Adaptive Fault-tolerant Control of UAV Neural Network with Integrated Faults

LI Tao; TIAN Yuan; QIAN Junhong; LI Yan; LIU Bing

doi:10.15892/j.cnki.djzdxb.2024.03.013

Journal of Projectiles, Rockets, Missiles and Guidance >

2024 , Vol. 44 >Issue 3: 96 - 102

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2024.03.013

Adaptive Fault-tolerant Control of UAV Neural Network with Integrated Faults

LI Tao ¹ ,
TIAN Yuan ¹ ,
QIAN Junhong ¹^,² ,
LI Yan ¹ ,
LIU Bing ¹

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¹ School of Unmanned Aerial Vehicles Industry,Chengdu Aeronautic Polytechic,Chengdu 610100,Sichuan, China
² Chengdu Kaidi Precision Technology Co., Ltd.,Chengdu 610100,Sichuan, China

Received date: 2024-01-21

Online published: 2024-12-28

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Abstract

The fault-tolerant control problems of quadrotor UAV under integrated faults, including sensor deviation fault, dual actuator efficiency loss fault and external interference are studied. Firstly, a dynamic model of a quadrotor UAV under the integrated faults is established. Then, a neural network is integrated into the design of the observer to construct a new extended state observer based on neural network to estimate different fault types. Secondly, dual position and attitude controllers are designed with the adaptive theory, using the weight function to adjust the adaptive law parameters of the controllers. Finally, the Lyapunov theory is used to prove stability of the system, and effectiveness of the proposed design method is verified by numerical simulation, so that the UAV has better fault-tolerant control ability under integrated faults.

Key words： quadcopter UAV; integrated faults; fault-tolerant control; neural network; adaptive control

Cite this article

LI Tao , TIAN Yuan , QIAN Junhong , LI Yan , LIU Bing . Adaptive Fault-tolerant Control of UAV Neural Network with Integrated Faults[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2024 , 44(3) : 96 -102 . DOI: 10.15892/j.cnki.djzdxb.2024.03.013

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