Adaptive fault tolerant attitude tracking control for miniature rotorcrafts under actuator saturation

Zhang, Song; Ling, Shuai; Sun, Kaibiao

doi:10.1016/j.ast.2017.06.005

Cited by 25 publications

(27 citation statements)

References 37 publications

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“…is paper will focus on the attitude controller design for the quadrotor, and therefore a control-oriented model can be expressed as [5][6][7][8]…”

Section: System Modelmentioning

confidence: 99%

“…where μ 1 and μ 2 are the states of the differentiator (7) Lemma 2 (see [27]). Consider the system _ x � f(x, u).…”

Section: System Modelmentioning

confidence: 99%

“…During the quadrotor entry process, the attitude adjustment of the quadrotor involves attitude maneuvering through a wide range of physical limitation, lumped external disturbances, and system parameter uncertainties [1][2][3]. Many advanced flight control methods have been proposed for the quadrotor's attitude control in order to improve the performance of the control system, such as adaptive backstepping method [4,5], adaptive compensation control [6][7][8], sliding-mode control strategy [9,10], and linearization control technique [11,12].…”

Section: Introductionmentioning

confidence: 99%

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Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

Gao

Wang

Tian

2020

Mathematical Problems in Engineering

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This paper investigates the adaptive output feedback attitude control of a quadrotor. First, a nonsingular terminal sliding-mode variable and auxiliary variable are introduced into a closed-loop structure. Meanwhile, a fuzzy logic system is incorporated into an adaptive algorithm to compensate for the adverse influence caused by lumped disturbances including system uncertainty and external disturbances on the attitude adjustment performance of a quadrotor. Then, a novel finite-time output feedback controller equipped with the saturation suppression algorithm is designed. Rigorous proof shows that the design control strategy ensures the closed-loop system stability and guarantees the attitude of the spacecraft to track desired command signals in finite time. Simulation results are presented to illustrate the performance of the proposed control scheme.

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“…is paper will focus on the attitude controller design for the quadrotor, and therefore a control-oriented model can be expressed as [5][6][7][8]…”

Section: System Modelmentioning

confidence: 99%

“…where μ 1 and μ 2 are the states of the differentiator (7) Lemma 2 (see [27]). Consider the system _ x � f(x, u).…”

Section: System Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

Gao

Wang

Tian

2020

Mathematical Problems in Engineering

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“…The tasks of an ACS are to make the spacecraft (satellite) achieve fine pointing, rapid maneuvering, accurate tracking, and other desired performances. The control problem of small satellites' attitude in the presence of uncertainties has been investigated in many research papers [7][8][9][10][11][12][13][14]. One possible solution to the problem of attitude control with limited communication is to utilize signal quantization with recently proposed quantizer [7].…”

Section: Introductionmentioning

confidence: 99%

“…A steering law is designed in [6] to perform the multifunction of satellites' attitude control and energy storage at the same time, the singularity avoidance being achieved by using the method of the inner product. Reference [18] proposes an effective method to determine the desired spacecraft attitude command through the proper choice of the reference frame for the small satellites, while the papers [11][12][13] are concentrated on the attitude tracking problem in the Earth staring work mode by means of iterative learning control [11], adaptive fault tolerant control [12], and robust adaptive control with unknown actuator nonlinearity [13]. A modelerror control synthesis approach was used in [19] to cancel the effects of modeling errors and external disturbances on the system, but the designed control law requires a model-error term to cancel the effects of a time delay.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neural Network-Based Satellite Attitude Control by Using the Dynamic Inversion Technique and a VSCMG Pyramidal Cluster

Lungu

2019

Complexity

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The paper presents an adaptive system for the control of small satellites’ attitude by using a pyramidal cluster of four variable-speed control moment gyros as actuators. Starting from the dynamic model of the pyramidal cluster, an adaptive control law is designed by means of the dynamic inversion method and a feed-forward neural network-based nonlinear subsystem; the control law has a proportional-integrator component (for the control of the reduced-order linear subsystem) and an adaptive component (for the compensation of the approximation error associated with the function describing the dynamics of the nonlinear system). The software implementation and validation of the new control architecture are achieved by using the Matlab/Simulink environment.

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Adaptive finite‐time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

Xia

Zhai

et al. 2022

Adaptive Control & Signal

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Summary The problem of attitude tracking control for quadrotor in presence of actuator faults and external disturbances is investigated in this article. By using fast terminal sliding mode control combined with prescribed performance technique, an adaptive control strategy capable of accommodating actuator faults and suppressing external disturbances is designed to achieve attitude finite‐time tracking control with guaranteed performance. In particular, with the help of Nussbaum functions, actuator faults are passively handled without extra development of fault detection and diagnosis mechanism. The finite‐time stability of attitude system under actuator faults and external disturbances is analyzed by Lyapunov stability criterion. Moreover, in order to demonstrate the effectiveness and superiority of proposed control scheme, numerical simulations in different cases are performed and presented in simulation section.

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Adaptive fault tolerant attitude tracking control for miniature rotorcrafts under actuator saturation

Cited by 25 publications

References 37 publications

Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

Finite-Time Attitude Control for Quadrotor with Input Constraints and Disturbances

Adaptive Neural Network-Based Satellite Attitude Control by Using the Dynamic Inversion Technique and a VSCMG Pyramidal Cluster

Adaptive finite‐time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

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