This paper presents a fault-tolerant flight control method for a multi-rotor UAV under actuator failure and external wind disturbances. The control method is based on an active disturbance rejection controller (ADRC) and spatio-temporal radial basis function neural networks, which can be used to achieve the stable control of the system when the parameters of the UAV mathematical model change. Firstly, an active disturbance rejection controller with an optimized parameter design is designed for rthe obust control of a multi-rotor vehicle. Secondly, a spatio-temporal radial basis function neural network with a new adaptive kernel is designed. In addition, the output of the novel radial basis function neural network is used to estimate fusion parameters containing actuator faults and model uncertainties and, consequently, to design an active fault-tolerant controller for a multi-rotor vehicle. Finally, fault injection experiments are carried out with the Qball-X4 quadrotor UAV as a specific research object, and the experimental results show the effectiveness of the proposed self-tolerant, fault-tolerant control method.
Decoupling control of a five-phase fault-tolerant permanent magnet motor by radial basis function neural network inverse
