School of Automation, Guangxi University of Science and Technology, Liuzhou 545006, China.
Sensors (Basel). 2022 Dec 20;23(1):34. doi: 10.3390/s23010034.
In this paper, the problem of actuator and sensor faults of a quadrotor unmanned aerial vehicle (QUAV) system is studied. In the system fault model, time delay, nonlinear term, and disturbances of QUAV during the flight are considered. A fault estimation algorithm based on an intermediate observer is proposed. To deal with a single actuator fault, an intermediate variable is introduced, and the intermediate observer is designed for the system to estimate fault. For simultaneous actuator and sensor faults, the system is first augmented, and then two intermediate variables are introduced, and an intermediate observer is designed for the augmented system to estimate the system state, faults, and disturbances. The Lyapunov-Krasovskii functional is used to prove that the estimation error system is uniformly eventually bounded. The simulation results verify the feasibility and effectiveness of the proposed fault estimation method.
本文研究了四旋翼无人机（QUAV）系统的执行器和传感器故障问题。在系统故障模型中，考虑了 QUAV 在飞行过程中的时滞、非线性项和干扰。提出了一种基于中间观测器的故障估计算法。为了处理单个执行器故障，引入了一个中间变量，并为系统设计了一个中间观测器来估计故障。对于同时发生的执行器和传感器故障，首先对系统进行增广，然后引入两个中间变量，并为增广系统设计一个中间观测器来估计系统状态、故障和干扰。利用李雅普诺夫-克拉索夫斯基泛函证明了估计误差系统的一致有界性。仿真结果验证了所提出的故障估计方法的可行性和有效性。
