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研究生：	練羽軒 Lien, Yu-Hsuan
論文名稱：	適應性觀測器於四旋翼致動器失效下之障誤偵測與容錯控制 Adaptive Observer Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure
指導教授：	彭兆仲 Peng, Chao-Chung
學位類別：	碩士 Master
系所名稱：	工學院 - 航空太空工程學系 Department of Aeronautics & Astronautics
論文出版年：	2018
畢業學年度：	106
語文別：	英文
論文頁數：	97
中文關鍵詞：	四旋翼之致動器失效、容錯控制、障誤偵測、適應性非線性觀測器、順滑控制
外文關鍵詞：	actuator fault of Quadrotors, fault tolerant control, fault detection and isolation, adaptive nonlinear observer, sliding mode control
相關次數：	點閱：118 下載：23
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本文致力於探討四旋翼於制動器失效之控制策略，此方法將包含兩部分—障誤偵測與容錯控制。其中，障誤判別分為障誤偵測與參數估測兩部分，除了探討不同方法的可行性，也試圖提出具備準確度與即時性之障誤判別方法，並降低誤判機率。為達到此目的，本論文以建立之四旋翼動力模型為基礎，使用非線性觀測器估測的各個狀態與實際系統量測之狀態產生殘差，並以該殘差是否超過所設計之適應性上下界判斷致動器是否失效。同時，以基於非線性穩定分析所得到之障誤估測法，實現制動器損壞比例之評估。最後再將障誤偵測與估測的結果作為依據，透過所設計之演算法判定障誤是否發生。當障誤條件被觸發後，將切換至所設計之容錯控制方法。透過即時的控制轉換，不但可以維持載具姿態之穩定，亦能於致動器失效情況下，完成既定之飛行任務。另一方面，為了抵禦外擾，本論文之容錯控制部分採用順滑控制作為強健控制器之設計，並輔以座標轉換，從而補償因四旋翼自旋現象造成之偏航。

This paper aims to propose a strategy for quad-rotors flight control under rotor failure. The proposed control strategy consists of two stages – FDI (fault detection and isolation) part and the FTC (fault tolerant control) part. The control method takes normal flight as well as abnormal flight into consideration. The algorithm that switches the control law between the aforementioned two cases relies on the FDI result. As a consequence, the accuracy of the FDI becomes one of the important issues for field safety flight control. To achieve the FDI, a model based method for fault detection and fault estimation is developed. As for the fault detection, an adaptive boundary of the residues generated from the nonlinear observer is applied, and the fault alarm is going to be triggered if any of the residues exceeds prescribed upper/lower bounds. On the other hands, the update law of fault estimation is formed within the stability analysis of state estimation error, which requires the application of the nonlinear observer. With the combination of the results from fault detection and fault estimation, the judgment in deciding whether the fault actually happens or not could be made. While fault happening, a control strategy that stabilizes the system and keeps the trajectory ability of the quad-rotor is required. To this aim, a coordinate transformation scheme is applied, which corrects the target angles for the quad-rotor to follow a desired trajectory. Furthermore, in order to achieve robust flight during the external wind perturbation, the sliding mode control (SMC) theory is used. Finally, simulations are applied to illustrate the effectiveness and feasibility of the fault control strategy. Numerical results show that the proposed method is able to achieve robust flight even in the presence of rotor failures.

Abstract	i
中文摘要	ii
Acknowledgement	iii
Contents	iv
List of Tables	vi
List of Figures	vii
Notation Conventions	x
Chapter 1 Introduction	1
1.1 Motivation	1
1.2 Literature Review	2
1.3 Organization and Contribution	3
Chapter 2 Dynamic Modeling	4
2.1 Rotation Dynamics	5
2.1.1 Introduction to Direction Cosine Matrix	5
2.1.2 Angular Momentum Derivative	7
2.1.3 Moment of Inertia of the Quadrotor	10
2.2 Force Equation	11
2.3 Moment Equation	12
2.4 Simulation Model under PID Control Law	16
2.5 Verification of Simulator	21
Chapter 3 Fault Detection and Fault-Tolerant Control for Quadrotors	25
3.1 Modified Control Law with Coordinate Transformation	26
3.2 An Observer Based Fault Detection Method	27
3.2.1 Introduction to Observer	27
3.2.2 Example of Observer Based Control in Pendulum Case	30
3.2.3 Observer Based Fault Detection Method for Quadrotors	32
3.3 Redundant Observer Based Fault-Tolerant Control Strategy	41
3.4 Simulation	42
3.4.1 Keeping Yaw Angle Control under Actuator Fault	42
3.4.2 Releasing Yaw Angle Control under Actuator Fault	43
Chapter 4 Fault Estimation and Fault-Tolerant Control Based on SMC	45
4.1 Introduction to Sliding Mode Control	45
4.2 FDI and FTC Strategy	49
4.2.1 Derivation of FDI and FTC in Pendulum Case	50
4.2.2 Discussion of Active FTC Concept under Slow Time Varying Fault	57
4.2.3 Examination of FDI Strategy on High-Order System with Multi Control Input	62
4.3 FDI and FTC for the Quadrotor	67
4.3.1 FTC for the Quadrotor	67
4.3.2 A Fault Estimation Method for the Quadrotor	72
4.4 Simulation Result	76
Chapter 5 FDI and FTC Scheme for the Quadrotor	81
5.1 Explanation of the FDI and FTC Scheme	81
5.2 Simulation of FDI and FTC Scheme	89
Chapter 6 Conclusion and Future Work	91
Reference	92
Appendix A – Moment of Inertia	94
Appendix B – Demonstration of Quad-rotor’s Flight in Different Cases	97
                                    

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校內：2021-07-03公開
校外：2021-07-03公開

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