基于双观测器并行结构的四旋翼无人机故障检测与重构

以四旋翼飞行器执行单元增益型故障的检测与重构为研究内容，设计基于滑模观测器的故障检测算法。针对飞行器姿态控制系统的驱动单元冗余特性，提出一种并行双降维观测器与超螺旋算法相结合的故障重构算法。对所提出的算法进行了理论分析，并通过数值仿真验证了所提出算法的有效性。

Faults detection and reconstruction for quad-rotor aircraft based on double-observers parallel structure

The fault detection and reconstruction method based on actutor gain-fault of a quad-rotor aircraft is proposed. A sliding-mode fault observer is designed to detect the fault. In consideration of the actuation redundancy characteristic, a fault reconstruction algorithm is proposed based on paralleled doubleo-bservers and a super-twisting algorithm. The theoretical analysis on the proposed methods is given, and the numerical simulation verifies the effectiveness of the proposed methods.