摘要
This study in westigatn the fault detection and fault atimation problem of a quadrotar with disturbanea.A synthesiand design of adaptive and sliding mode obeerver is propoeed to addres the efkctive detection and atimation of inepient faulta.First,the decom pased subaystems are obtalned through the coardinate transdormation,and the in Stial and ineipkent faults are sea rated from the disturbanon.Second,an adaptive obeerver is applied to the decamposd un petubad subaystem to atimate ineipient faults,while the sliding mode obearver remalns robust to disturbanos for the perturbed subaytem.Lyapumov stahility theory mmas the mavergenae o dynamic erors and the stability of the quadrotor ayatem.Pinally,the dfc tiveess of the proposed synthated algod thm of ineipient fault detection is weified by the quadrotor simulation.
基金
supported by the National Key R&D Program of China(2018AAA0102804)
Shanghai Sailing Program(21YF1414000)
International Corporation Project of Shanghai Science and Technology Commission(21190780300)
and National Natural Science Foundation of China(62173218).
