基于干扰观测器的四旋翼无人机离散时间容错控制

为了飞行控制方案便于在计算机上实现，针对具有外部干扰和执行器加性故障的四旋翼无人机（UAV）角度运动方程，给出一种基于干扰观测器的离散时间跟踪控制方案。通过设计离散时间干扰观测器抑制外部干扰和执行器故障的不利影响，并结合干扰观测器设计离散时间控制器。通过数值仿真验证了基于干扰观测器的离散时间容错控制方案的有效性。仿真结果表明，设计的离散控制器能够保证外部干扰和执行器故障综合作用下的四旋翼UAV系统跟踪控制性能。

Discrete-time fault-tolerant control for quadrotor UAV based on disturbance observer

To facilitate the computer implementation of the flight control scheme, a discrete-time tracking control method is proposed based on a disturbance observer for the angular motion equation of quadrotor Unmanned Aerial Vehicle (UAV) with external disturbances and actuator faults. Adverse effects of external disturbances and actuator faults are restrained by designing a discrete-time disturbance observer. The designed disturbance observer is then used in the design of the discrete-time controller. Finally, the effectiveness of the proposed control approach is proven. Numerical simulation results show that the designed discrete-time controller can guarantee stable tracking errors of the quadrotor UAV under actuator faults and disturbances.