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This article considers the safety control problem of a quadrotor unmanned aerial vehicle (UAV) subject to actuator faults and external disturbances, based on the quantization of system capability and safety margin. First, a trajectory function is constructed online with backpropagation of system dynamics. Therefore, a degraded trajectory is gracefully regenerated, via the tradeoff between the remaining system capability and the expected derivatives (velocity, jerk, and snap) of the trajectory. Second, a control-oriented model is established into a form of strict feedback, integrating actuator malfunctions and disturbances. Therefore, a retrofit dynamic surface control (DSC) scheme based on the control-oriented model is developed to improve the tracking performance. When comparing to the existing control methods, the compensation ability is analyzed to determine whether the faults and disturbances can be handled or not. Finally, simulation and experimental studies are conducted to highlight the efficiency of the proposed safety control scheme.
Zhou et al. (Wed,) studied this question.