中文摘要：

本文研究了四旋翼无人机执行器发生部分失效时的姿态控制问题.通过分析其动力学特性,将执行器故障以乘性因子加入系统模型,得到执行器故障情况下四旋翼无人机的姿态动力学模型.在同时存在未知外部扰动和执行器故障的情况下,设计了一种基于自适应滑模控制的容错控制器.利用基于Lyapunov的分析方法证明了所设计控制器的渐近稳定性.在四旋翼无人机实验平台上进行了实验,验证了该算法对存在未知外部扰动和执行器部分失效时四旋翼无人机的姿态控制具有较好的鲁棒性.

英文摘要：

This paper is devoted to deal with the attitude control of the quadrotor unmanned aerial vehicle（UAV） with partial loss of effectiveness of its actuators. After analyzing the dynamic characteristics of the quadrotor UAV, we add the actuator failures to the system model in the form of multiplicative factor to obtain the dynamic model of quadrotor UAV with actuator failures. Then we develop a new nonlinear fault tolerant control（FTC） method based on the adaptive sliding mode control in the case of both unknown external perturbations and actuator failures. The asymptotical stability of the proposed controller is proved based on Lyapunov method. The real-time flight tests are implemented on the quadrotor UAV testbed and the results show that the proposed controller has achieved good robustness with respect to unknown external disturbances and partial loss of effectiveness of quadrotor UAV actuators.