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This paper introduces a novel reference generation and control architecture that seamlessly integrates the management of faults and disturbances. Initially, we employ trigonometric functions to define the reference signal, optimizing computational efficiency while accurately predicting thrust responses. Subsequently, a capability analysis is conducted on the error dynamics influenced by faults and disturbances, bridging the planning and control phases to ensure robust and safe reference generation. To enhance system resilience, we implement a cascaded control strategy supplemented by both internal and external loop observers, effectively compensating for faults and disturbances. The efficacy of our approach is validated through rigorous benchmark experiments.

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Resilient Quadrotors Reference Generation and Control Design against Motor Faults and Wind Disturbance

  • 会议论文

  • 发表日期：

    2025年

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  • Xiaobin Zhou,
  • Miao Wang,
  • Can Cui,
  • Chao Xu

摘要

This paper introduces a novel reference generation and control architecture that seamlessly integrates the management of faults and disturbances. Initially, we employ trigonometric functions to define the reference signal, optimizing computational efficiency while accurately predicting thrust responses. Subsequently, a capability analysis is conducted on the error dynamics influenced by faults and disturbances, bridging the planning and control phases to ensure robust and safe reference generation. To enhance system resilience, we implement a cascaded control strategy supplemented by both internal and external loop observers, effectively compensating for faults and disturbances. The efficacy of our approach is validated through rigorous benchmark experiments.