基于四旋翼无人机与被动铰链构建的过驱动无人机平台容错控制
Fault-tolerant Control of an Over-actuated UAV Platform Built on Quadcopters and Passive Hinges
AI总结：
针对多旋翼无人机螺旋桨故障易坠毁的问题，提出一种用于由四旋翼和被动关节构成的过驱动平台的分层鲁棒容错控制器，通过三级机制实现双桨故障下的稳定控制，经仿真与实机验证性能优异。
摘要：
螺旋桨故障是多旋翼无人机（UAV）坠毁的主要原因。传统多旋翼系统因欠驱动特性难以解决该问题，而过驱动平台可通过适当的容错控制（FTC）维持飞行。本文提出一种鲁棒FTC控制器，用于由安装在被动关节上的四旋翼无人机构成的过驱动无人机平台，该平台在高层飞行器控制和低层矢量推力四旋翼控制层面均具备输入冗余。为在螺旋桨故障期间最大化利用输入冗余的优势，所提FTC控制器采用分层控制架构，包含三个核心组件：（i）防止螺旋桨级推力饱和的低层调整策略；（ii）缓解引入扰动的补偿回路；（iii）避免四旋翼级推力饱和的基于零空间的控制分配框架。通过在低层和高层控制回路中重新分配执行器输入，即使出现多达两个螺旋桨故障，仍可维持低层四旋翼控制，确保整个平台保持稳定并避免坠毁。仿真和真实世界实验全面验证了所提控制器的优异性能。
英文摘要：
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with appropriate fault-tolerant control (FTC). This paper presents a robust FTC controller for an over-actuated UAV platform composed of quadcopters mounted on passive joints, offering input redundancy at both the high-level vehicle control and the low-level quadcopter control of vectored thrusts. To maximize the benefits of input redundancy during propeller failure, the proposed FTC controller features a hierarchical control architecture with three key components: (i) a low-level adjustment strategy to prevent propeller-level thrust saturation; (ii) a compensation loop for mitigating introduced disturbances; (iii) a nullspace-based control allocation framework to avoid quadcopter-level thrust saturation. Through reallocating actuator inputs in both the low-level and high-level control loops, the low-level quadcopter control can be maintained with up to two failed propellers, ensuring that the whole platform remains stable and avoids crashing. The proposed controller's superior performance is thoroughly examined through simulations and real-world experiments.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
