Fault-Tolerant Adaptive Learning Control for Quadrotor UAVs With the Time-Varying CoG and Full-State Constraints

Zhixi Shen,Lian Tan,Shuangshuang Yu,Yongduan Song

IEEE Transactions on Neural Networks and Learning Systems（2021）

引用 12|浏览12

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摘要

Most existing control methods for quadrotor unmanned aerial vehicles (UAVs) are based on the primary assumption that the center of gravity (CoG) is fixed and is in the same position as the centroid, which is not necessarily true with swing load as continuously making CoG vary with the swing angle and substantially complicating the dynamic model of UAV. This article presents an adaptive learning an...

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关键词

Load modeling,Actuators,Adaptation models,Vehicle dynamics,Fault tolerant systems,Fault tolerance,Adaptive systems

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