Fault-Tolerant Control for Six Rotor Unmanned Aerial Vehicle Attitude System

Abstract

The six-rotor UAV, which redundant performance is better than quad-rotor, was selected as the research object in this paper. During the flight of aircraft, it was possible that the six-rotor UAV catch some faults such as sensor fault, software fault and actuator fault etc. In response to the fault condition of the actuator, the control allocation algorithm based on weighted pseudo-inverse was used to redistribute the control quantity to compensate the impact of the failure and ensure the stability of the whole system. Comparing with the traditional fault tolerant control algorithm, the control allocation algorithm adopted in this paper applied the adaptive control algorithm of weight matrix to adjust the actual controlled quantity in real time. The fuzzy PID controller was selected to control the whole attitude system. Finally, the Simulink toolbox was adopted to verify the effectiveness of the fault tolerant algorithm and compare with the simulation diagram that generated by standard system as well as fault system.