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10.3390/math10224386
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Article

Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO

by
Lei Liu
1,†,
Junjie Liu
1,†,
Junfang Li
1,*,
Yuehui Ji
1,
Yu Song
1,
Liang Xu
1 and
Wenxing Niu
2
1
Tianjin Key Laboratory for Control Theory and Applications in Complicated Industry Systems, School of Electrical Engineering and Automation, Tianjin University of Technology, Tianjin 300384, China
2
Tianjin Enpromi Environmental Protection Technology Co., Ltd., Tianjin 300462, China
*
Author to whom correspondence should be addressed.
†
These authors contributed equally to this work.
Mathematics 2022, 10(22), 4386; https://doi.org/10.3390/math10224386
Submission received: 9 October 2022 / Revised: 9 November 2022 / Accepted: 15 November 2022 / Published: 21 November 2022
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Abstract

Focusing on the actuator fault of the quadrotor unmanned aerial vehicle (QUAV), an active fault-tolerant control scheme based on fixed-time linear active disturbance rejection control is proposed. Firstly, in order to simplify the complex dynamic model, the virtual control quantity is introduced to decouple the flight control system of the QUAV. Secondly, the fixed-time extended state observer (ESO) is utilized to estimate and compensate the internal uncertainty, external disturbance and actuator fault of the QUAV in fixed time. Thirdly, a continuous output feedback controller based on fixed-time ESO is designed to keep the stability of the flight control system with actuator fault and external disturbance. Finally, the closed-loop stability of the flight control system is demonstrated by Lyapunov function. The numerical simulation is carried and the results also verify the effectiveness of the proposed control scheme.
Keywords: actuator fault; external disturbance; fault-tolerant control; fixed-time ESO; quadrotor; UAV actuator fault; external disturbance; fault-tolerant control; fixed-time ESO; quadrotor; UAV

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MDPI and ACS Style

Liu, L.; Liu, J.; Li, J.; Ji, Y.; Song, Y.; Xu, L.; Niu, W. Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO. Mathematics 2022, 10, 4386. https://doi.org/10.3390/math10224386

AMA Style

Liu L, Liu J, Li J, Ji Y, Song Y, Xu L, Niu W. Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO. Mathematics. 2022; 10(22):4386. https://doi.org/10.3390/math10224386

Chicago/Turabian Style

Liu, Lei, Junjie Liu, Junfang Li, Yuehui Ji, Yu Song, Liang Xu, and Wenxing Niu. 2022. "Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO" Mathematics 10, no. 22: 4386. https://doi.org/10.3390/math10224386

APA Style

Liu, L., Liu, J., Li, J., Ji, Y., Song, Y., Xu, L., & Niu, W. (2022). Fault-Tolerant Control for Quadrotor Based on Fixed-Time ESO. Mathematics, 10(22), 4386. https://doi.org/10.3390/math10224386

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