Control allocation technology based on fault diagnosis for the unmanned aerial vehicle system subject to physical constraints and fault reconfiguration mismatch

• Published in: Asian journal of control Vol. 25; no. 2; pp. 1675 - 1683
• Main Authors: Wang, Zailin, Yao, Lina
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.03.2023
• Subjects: Adaptive control; adaptive weights; Algorithms; control allocation; dynamic weights; Fault diagnosis; Inverse method; physical constraints; Reconfiguration; Unmanned aerial vehicles
• ISSN: 1561-8625; 1934-6093
• DOI: 10.1002/asjc.2896

The problem of the system robustness subject to physical constraints and mismatched fault reconstruction is discussed in this paper. In order to facilitate the design, a four‐rotor unmanned aerial vehicle (UAV) system model was selected for research. First, the control allocation model of the nonlinear UAV system with disturbances is shown in the paper. Secondly, a weighted pseudo‐inverse method based on adaptive weights is proposed, which reduces the impact of physical constraints on the system. After that, a dynamic weight control allocation method based on the fault efficiency matrix is designed. The weight matrix can dynamically adjust the control distribution law according to the fault estimation value provided by the observer. Then, a dynamic adaptive control allocation method for faults and physical constraints is carried out by combining adaptive weights and dynamic weights. Finally, a simulation example is presented to further illustrate the effectiveness of the algorithm proposed in this paper.