Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

摘要: Abstract A systematic fault tolerant control FTC scheme based on estimation for a quadrotor actuator, which integrates normal control, active and passive parking is proposed in this paper. Firstly, an adaptive Thau observer ATO presented to estimate the rotor magnitudes, then faults with different magnitudes time-varying natures are rated into corresponding severity levels pre-defined fault-tolerant boundaries. Secondly, strategy can coordinate various methods designed compensate failures depending types levels. Unlike former stand-alone or FTC, our way of condition-based maintenance CBM, especially consider fatal that traditional techniques cannot accommodate avoid crashing UAVs. Finally, simulations carried out show performance effectiveness method.