Fault Tolerant Control of a Quadrotor Unmanned Aerial Vehicle Based on Active Disturbance Rejection Control and Two-Stage Kalman Filter

Fault Tolerant Control of a Quadrotor Unmanned Aerial Vehicle Based on Active Disturbance Rejection Control and Two-Stage Kalman Filter

This paper addresses the fault tolerant control problem of a quadrotor unmanned aerial vehicle (UAV) with the actuator loss-of-effectiveness fault and measurement noise. To this end, a cascade active disturbance rejection control (ADRC) strategy with a two-stage Kalman filter (TSKF) is proposed. The...

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Bibliographic Details
Main Authors: Yusheng Du, Peng Huang, Yun Cheng, Yunlei Fan, Yinlong Yuan
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Quadrotor unmanned aerial vehicle
active disturbance rejection control
two-stage Kalman filter
loss-of-effectiveness fault
measurement noise
Online Access:https://ieeexplore.ieee.org/document/10171359/

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