Fault Tolerant Control of Quadrotor based on Parameter Estimation Techniques and Reconfigurable PID Controller

摘要：

　　This paper focuses on the fault tolerant control of quadrotor. In this paper, the dynamic model of quadrotor and its measurements model will be given, and a PID controller will be designed based on the models. Then we propose an approach to detect and diagnose the fault of rotor with the help of parameter estimation techniques and adjust the controller to achieve better control results under fault. The proposed fault detection and diagnosis approach is designed for being insensitive to noise of measurements for reliability and robustness.

关键词： quadrotor fault tolerant control fault detection and diagnosis parameter estimation reconfigurable controller

作者: HE Xie Jean-Charles Chaudemar HUANG Jun Fran?ois Defay

作者单位: School of Aeronautic Science and Engineering, Beihang University, XueYuan Road No.37, HaiDian Distri Institut Supérieur de lAéronautique et de lEspace, 10 avenue Edouard Belin - BP 5403231055 Toulous

会议类型: 国际会议

会议名称: 2015 Joint International Mechanical,Electronic and Information Technology Conference(JIMET 2015)(2015 联合国际机械,电子与信息技术国际会议)

会议地点: 重庆

会议语种:英文

页码: 933-938

在线出版日期: 2015-12-18（万方平台首次上网日期，不代表论文的发表时间）