Fault-tolerant control method for tilting quad-rotor unmanned aerial vehicle based on sliding mode theory

• Main Authors: GUAN RUOQIAO, CUI KAILUN, HE FENGHUA, XING RUI, TIAN CHUNGENG
• Format: Patent
• Language: Chinese; English
• Published: 06.09.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a fault-tolerant control method for a tilting quad-rotor unmanned aerial vehicle based on a sliding mode theory, relates to the technical field of unmanned aerial vehicle control, and is used for solving the problem that an existing quad-rotor unmanned aerial vehicle control method cannot effectively and independently control the position and attitude of an unmanned aerial vehicle. The method is characterized by comprising the steps that uncertainty of system parameters, external disturbance and internal disturbance caused by actuator faults are considered, and a dynamical model is developed; according to a sliding mode control theory, designing a terminal fast nonsingular sliding mode controller, designing a control distribution method, and converting expected force and expected torque into a motor rotating speed and a tilt angle; further designing a delay disturbance observer, and detecting whether the system has an actuator fault or not; a control parameter adjusting strategy is des