Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field
نویسندگان
چکیده
This paper presents an obstacle avoidance control strategy for underactuated quadrotor unmanned aerial vehicle with motor loss-of-effectiveness fault and disturbance. The system is divided into two parts: the loop tracking loop. By introducing height factor in artificial potential field function, improved designed Compared existing literature, proposed can avoid falling trap of local optimum when a UAV encounters obstacles. At same time, considering sudden UAV, adaptive technology used to estimate parameters online restrain effects stability closed-loop guaranteed by stabilizing each subsystems through backstepping technology. Simulations are conducted demonstrate effectiveness strategy.
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ژورنال
عنوان ژورنال: Sustainability
سال: 2023
ISSN: ['2071-1050']
DOI: https://doi.org/10.3390/su15032368