Adaptive dynamic surface output feedback control for a class of quadrotor aircraft with actuator faults

Abstract

Purpose The purpose of this study is to propose an adaptive fault-tolerant control approach based on output feedback for a class of quadrotor unmanned aerial vehicles system. In the event of a controlled actuator failure, a stable flying of the aircraft can be achieved by selecting an appropriate sliding mode surface. Design/methodology/approach Aiming at the actuator failure of quadrotor aircraft during flight in the controllable range, a dynamic surface sliding mode passive fault-tolerant controller based on output feedback is designed based on the strong robustness of sliding mode method. Due to the unknown nonlinearity dynamics and parameter uncertainties in the system, a nonlinear observer is used to estimate them online. Findings The stability of the suggested algorithm is established using appropriate Lyapunov functions, and the performance of the proposed control approach is demonstrated using hardware-in-the-loop simulation. Originality/value An error performance function is introduced into the controller to ensure the convergence speed and accuracy of errors are within the predetermined range. By using the norm estimation method, there is only one parameter that needs to be updated in each step of the control process, which considerably minimizes the calculation burden. Finally, the validity of the proposed control scheme is verified on the hardware-in-the-loop simulation, and the results show that the proposed control method has achieved the desired results.

Finite-Time Adaptive Quantized Control for Quadrotor Aerial Vehicle with Full States Constraints and Validation on QDrone Experimental Platform

“…As a type of aircraft, the quadrotor UAV imposes stringent requirements on stability, accuracy, and rapidity of its controller. Ensuring the reliability and autonomy of the quadrotor aircraft during flight tasks in positional environments heavily relies on the adaptability [10] and robustness [11] of the controller. To this end, numerous researchers have proposed various control schemes.…”

Low-level control with actuator dynamics for multirotor UAVs

“…Multirotor UAVs have been widely used in many fields due to their distinct features, such as small size, low cost and superior flexibility (Fang et al , 2021; Zhu et al , 2022; Zhou et al , 2021; Xin-De et al , 2014). The execution of various tasks and the response to the operator’s commands directly depend on the quality of the flight controller.…”