Southwest University of Science and Technology

About: Southwest University of Science and Technology is a education organization based out in Mianyang, China. It is known for research contribution in the topics: Adsorption & Graphene. The organization has 10017 authors who have published 8923 publications receiving 94850 citations. The organization is also known as: Xīnán Kējìdàxué.

A novel robust attitude control for quadrotor aircraft subject to actuator faults and wind gusts

Abstract: A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper. Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then, based on active disturbance rejection control U+0028 ADRC U+0029, the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts, actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer U+0028 ESO U+0029 and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.