Fault-Tolerant Control of Unmanned Helicopter Based on RBF-LADRC

Aiming at the problem of flight control of unmanned helicopter with sensor faults, a linear active disturbance rejection (LADRC) fault-tolerant control method based on RBF neural network is proposed. The integral variable of the state output signal is introduced to augment the original system. On this basis, the RBF neural network is used to estimate the unknown sensor fault, and the LADRC technology is used to obtain the system state quantity and the estimated value of the total internal and external disturbances, and the system is transformed into a standard integral series structure without disturbance. Based on Lyapunov stability theory, it is proved that the closed-loop system is globally asymptotically stable. Finally, the attitude control of unmanned helicopter with different types of sensor faults is simulated. The results show that the RBF-LADRC fault-tolerant control method proposed in this paper can effectively overcome the influence of sensor faults, and has strong anti-disturbance ability and good robustness.