Adaptive Fault-Tolerant Tracking Control of Quadrotor UAVs against Uncertainties of Inertial Matrices and State Constraints

Adaptive Fault-Tolerant Tracking Control of Quadrotor UAVs against Uncertainties of Inertial Matrices and State Constraints

This paper presents a study on a quadrotor unmanned aerial vehicle (UAV) fault-tolerant control scheme. According to the attitude model and safety control of the aircraft under the uncertainty of inertial matrix, the attitude state constraint by reinforcement learning is designed to ensure safety. E...

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Bibliographic Details
Main Authors: Shuai Yang, Zhihui Zou, Yingchao Li, Haodong Shi, Qiang Fu
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Drones
Subjects:
quadrotor UAV
fault-tolerant control
uncertainty inertial matrix
RBF neural network (RBFNN)
backstepping control
state constraint
Online Access:https://www.mdpi.com/2504-446X/7/2/107

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https://www.mdpi.com/2504-446X/7/2/107

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