Auto-disturbance rejection fault-tolerant control of quadrotor based on adaptive observer

Abstract

Abstract To solve the problem of fault diagnosis and adjustment of the quadrotor actuator, a model of the quadrotor vehicle system is established by using the Newton-Euler method considering the unmodeled uncertainty of the system. A fault diagnosis observer with an adaptive threshold is designed to isolate the fault and estimate the fault amplitude. By using the compensation function to improve the extended state observer, an improved active disturbance rejection control system with high order feedback is constructed to improve the robustness and security of the system. Numerical simulation results show that the proposed method is feasible.