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无人机在过去十年中发展非常迅速且应用越来越广泛。作为确保无人机安全飞行和实际使用的关键技术,容错控制技术近年来也已经在世界范围内引起了极大的关注、并针对无人机执行器故障开展了相当多的研究。首先概述了无人机的分类及容错控制技术的研究概况。然后对一款基于工业界与学术界有效合作之成果的四旋翼无人直升机系统(Qball-X4)进行了描述,并重点介绍了此无人机系统的硬件和软件组成。最后介绍了基于Qabll-X4的2个最近研究的容错控制算法的设计和实现,并进行了实验测试与验证。
UAVs have developed very rapidly and become more widely used over the past decade. As a key technology to ensure the safe flight and practical use of UAS, fault-tolerant control technology has drawn great worldwide attention in recent years and considerable research has been conducted on UAV actuator failures. First of all, an overview of the research of UAV classification and fault-tolerant control technology is outlined. Then, a quadrotor unmanned helicopter system (Qball-X4) based on the effective cooperation between industry and academia was described and the hardware and software composition of the unmanned aerial vehicle system was highlighted. Finally, the design and implementation of two recent fault tolerant control algorithms based on Qabll-X4 are introduced and tested.