论文标题
四型肌的增量非线性断层控制，完全损失了两个相对的转子
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor with Complete Loss of Two Opposing Rotors
论文作者
论文摘要
为了进一步扩大执行器故障下的四肢的飞行包络，我们设计了一个基于非线性传感器的耐故障控制器，以在高速飞行状态（> 8m/s）中稳定两个相对转子的二次运动。采用了在处理模型不确定性中出色的增量非线性动态反演（INDI）方法，以补偿重要的未知空气动力学效应。已经分析了这种不足系统的内部动力学，并通过重新定义控制输出来稳定。可以将所提出的方法推广以控制单连通和名义条件下的四摩托。为了进行验证，已经在一条大规模开放喷气隧道中进行了飞行测试。在存在严重的风干扰的情况下，可以控制受损四损的位置。比较了文献中的线性二次调节器（LQR）方法，以证明在大风和高速飞行条件下提出的非线性方法的优势。
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (> 8m/s). The incremental nonlinear dynamic inversion (INDI) approach which excels in handling model uncertainties is adopted to compensate for the significant unknown aerodynamic effects. The internal dynamics of such an underactuated system have been analyzed, and subsequently stabilized by re-defining the control output. The proposed method can be generalized to control a quadrotor under single-rotor-failure and nominal conditions. For validation, flight tests have been carried out in a large-scale open jet wind tunnel. The position of a damaged quadrotor can be controlled in the presence of significant wind disturbances. A linear quadratic regulator (LQR) approach from the literature has been compared to demonstrate the advantages of the proposed nonlinear method in the windy and high-speed flight condition.
