Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior

Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior

In this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are modeled as time-varying multiplicative parameters t...

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Bibliographic Details
Main Authors: Wenlai Ma, Minghua Hu, Wei Hao, Haijun Wang, Peiyu Wang
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Actuators
Subjects:
tri-rotor UAV
FTC
robust tracking control
inner-outer-loop control
Online Access:https://www.mdpi.com/2076-0825/12/4/140

Internet

https://www.mdpi.com/2076-0825/12/4/140

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