Scholarlink

This study examines the trajectory tracking problem of a quadrotor in the presence of actuator faults and external disturbances. A fault-tolerant tracking control method is proposed, utilizing recursive least squares to online identify the parameter changes of motors during flight. The combination of identified motor parameter information, an augmented state observer, and nonlinear model predictive control is employed to achieve trajectory tracking control of the quadrotor under actuator faults and external disturbances. Finally, simulation results ultimately confirm the effectiveness of the proposed nonlinear MPC-based fault-tolerant tracking control strategy.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Nonlinear MPC-Based Fault-Tolerant Tracking Control of a Quadrotor with Actuator Faults

  • 会议论文

  • 发表日期：

    2025年

查看全文
  • Yupeng Shu,
  • Yihuan Jin,
  • Kuan Li,
  • Jing Zhao,
  • Chun Liu,
  • Hongtian Chen

摘要

This study examines the trajectory tracking problem of a quadrotor in the presence of actuator faults and external disturbances. A fault-tolerant tracking control method is proposed, utilizing recursive least squares to online identify the parameter changes of motors during flight. The combination of identified motor parameter information, an augmented state observer, and nonlinear model predictive control is employed to achieve trajectory tracking control of the quadrotor under actuator faults and external disturbances. Finally, simulation results ultimately confirm the effectiveness of the proposed nonlinear MPC-based fault-tolerant tracking control strategy.