Obstacle Avoidance Control of Unmanned Aerial Vehicle with Motor Loss-of-Effectiveness Fault Based on Improved Artificial Potential Field

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.