Attitude Compensation Control for Quadrotor Under Partial Loss of Actuator Effectiveness

Abstract

In this paper, an augmented fault tolerant attitude control system is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle with inertia parameter uncertainties, the external disturbance and the partial loss of actuator effectiveness. To tackle system uncertainty and actuator faults, a fixed time compensation controller is developed based on adaptation mechanism combing with a monitor strategy and Nussbaum gain technique. Robust compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking-errors converge to a prescribed compact set in a fixed time. Finally, the simulation results demonstrate the effectiveness of the proposed controller.

Adaptive Fuzzy‐Sliding Consensus Control for Euler–Lagrange Systems with Time‐Varying Delays

“…We consider a multiagent Euler-Lagrange system of ( 3) with a directed spanning-tree communication graph. From (7), the state trajectories of the system (32) will be driven onto the surface s i � 0 with the AFSFC (33), the auxiliary controller (34), and the adaptive laws ( 24), ( 35), (36).…”

“…In [33], a robust consensus control strategy was addressed for nonlinear second-order multiagent systems against actuator faults and uncertainties. Dong et al presented an augmented control system for a quadrotor unmanned aerial vehicle with parameter uncertainties, external disturbance, and the partial loss of actuator effectiveness [34]. In [35], a cooperative fault tolerant control was presented for linear leader-follower networks subject to actuator faults.…”

Integral terminal sliding mode fault tolerant control of quadcopter UAV systems

“… -based actuator fault estimation and fault reconfiguration were presented in 21 . An augmented FTC method was proposed for the attitude system 22 under partial loss of effectiveness in actuators. Also, an improved integral sliding mode FTC for hypersonic vehicles under actuator fault was proposed in 23 .…”