Research on Bias Fault of Quadrotor UAV Sensor Based on Adaptive Sliding Mode Control

本文针对四旋翼无人机角速度传感器出现偏置故障导致姿态控制精度下降的问题，提出了一种基于自适应滑模控制的容错控制方法。该方法通过自适应律在线估计传感器偏置故障量，并将其补偿到滑模控制器中，以修正姿态误差。论文构建了带有故障的无人机动力学模型，设计了自适应滑模控制器，并利用Lyapunov稳定性理论和Barbalat引理证明了系统的稳定性。最后，通过MATLAB/Simulink仿真验证了所提方法的有效性，表明该方法能够有效稳定机体姿态，实现对目标姿态的精确跟踪。 The article addresses the issue of decreased attitude control accuracy caused by bias faults in the angular velocity sensors of quadrotor drones, proposing a fault-tolerant control method based on adaptive sliding mode control. This method online estimates the sensor bias fault through an adaptive law and compensates for it in the sliding mode controller to correct attitude errors. The paper constructs a dynamic model of the drone with faults, designs an adaptive sliding mode controller, and proves the system’s stability using Lyapunov stability theory and Barbalat’s lemma. Finally, the effectiveness of the proposed method is verified through MATLAB/Simulink simulations, indicating that this method can effectively stabilize the body attitude and achieve precise tracking of the target attitude.