Fault Tolerant Control of Unmanned Aerial Vehicle Based on Adaptive Algorithm

Abstract

In order to avoid the flight dysfunctions caused by the failure and damage of the actuator, the sensor, and the structure of the unmanned aerial vehicle (UAV) for the UAV could return safely or continue to complete the missions, the adaptive control technology, the PID control technology, and other related technologies have been combined to study the fault tolerant control of UAV. At the same time, in order to ensure the speed and stability of the aircraft, a robust based multi-model adaptive control system is designed for the attitude control of the quadrotor UAV rotor aircraft; in addition, the effectiveness of the above method is verified through simulation experiments. The results have shown that if the flight control system can detect and identify the system faults in time and take certain fault tolerant controls, the survivability of the UAV would be greatly improved.