Back‐stepping sliding mode control method for quadrotor UAV with actuator failure

Zhu, Zhiqiang; Cao, Shuai

doi:10.1049/joe.2019.1084

Cited by 12 publications

(11 citation statements)

References 11 publications

(10 reference statements)

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“…Compared to the nonlinear control approach in [18], the controller in [51] was based on linearized models. In [52], a nonlinear sliding mode controller was proposed to deal with actuator failure in quadrotor UAVs. The inner loop was the attitude control and the outer loop was the position control.…”

Section: Robust and Fault-tolerant Controlmentioning

confidence: 99%

Safety Enhancement of UAVs from the Signal Processing’s Perspectives: A Bird’s Eye View

Kwan

2021

Drones

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Unmanned air vehicles (UAVs) or drones have gained popularity in recent years. However, the US Federal Aviation Administration (FAA) is still hesitant to open up the national air space (NAS) to UAVs due to safety concerns because UAVs have several orders of magnitude of more accidents than manned aircraft. To limit the scope in this paper, we focus on large, heavy, and expensive UAVs that can be used for cargo transfer and search and rescue operations, not small radio-controlled toy drones. We first present a general architecture for enhancing the safety of UAVs. We then illustrate how signal processing technologies can help enhance the safety of UAVs. In particular, we provide a bird’s eye view of the application of signal processing algorithms on condition-based maintenance, structural health monitoring, fault diagnostics, and fault mitigation, which all play critical roles in UAV safety. Some practical applications are used to illustrate the importance of the various algorithms.

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Section: Robust and Fault-tolerant Controlmentioning

confidence: 99%

Safety Enhancement of UAVs from the Signal Processing’s Perspectives: A Bird’s Eye View

Kwan

2021

Drones

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“…Constraints ( 5) and ( 6) ensure the final values of the control inputs. Constraint (7) ensures that the vehicle will be never overturned [28][29][30].…”

Section: Problem Formulationmentioning

confidence: 99%

“…For these reasons, control system design for underactuated systems is not an easy task. In fact, based on recent surveys [3][4][5][6][7], control of general underactuated systems is currently a major open problem.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Output Feedback Control for a Class of Underactuated Aerial Vehicles with Input and Output Constraints

Tran

Nguyen

et al. 2020

Mathematical Problems in Engineering

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This paper addresses the problem of nonlinear robust adaptive output feedback controller for a class of underactuated aerial vehicles with input and output constraints. To solve the problem, the modular design strategy is proposed for the control design. By using the neural networks (NNs) to approximate system uncertainties and observers to reconstruct system states, robust adaptive output feedback controllers are developed. By using a combination of saturation functions and barrier functions, input and output constraints are simultaneously dealt with. The design methodology shows that a cascaded system of an input-to-state stable (ISS) subsystem driven by an ultimate bounded (UB) subsystem enjoys ultimate boundedness property. In addition, the tracking error converges to adjustable neighbourhoods of the origin.

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“…By considering a single rotor failure, a fault-tolerant control (FTC) based on back-stepping sliding mode control was presented for the position and altitude subsystems of quadrotor UAVs. 12 It is obvious that reaching sliding mode law could reduce the chattering in control inputs. By combining the output state observer, adaptive fuzzy control, and constraint backstepping approach, a robust fault-tolerant control approach is designed despite the unmeasured states, actuator faults, control input constraints, and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Active fault-tolerant control system for a swash mass helicopter using back-stepping approach

Allahverdy

Fakharian

2021

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this article, an active fault-tolerant control system is designed and analyzed for a new model structure of unmanned aerial vehicles, which is referred to a swash mass helicopter. It consists of a double-blade coaxial shaft rotor for generating the necessary thrust and four masses that are located on the main body structure to maneuver the helicopter. The translational and rotational subsystems of the helicopter are highly coupled. Therefore, change of coordinate and feedback linearization methodologies are applied to address the problem and achieve the canonical form of the model. Next, actuator fault as a loss of effectiveness and bias faults are modeled for the dynamic. The main contribution of this article is to design an active fault-tolerant control system based on back-stepping and T-S fuzzy estimation methods for the swash mass helicopter which has never been designed in the last decades. T-S fuzzy methodology is responsible for obtaining the estimated value of the actuator faults during the flight. The Lyapunov theory illustrates that the proposed control strategy can stabilize the system despite the actuator’s fault. The simulation results show the effectiveness of the proposed scheme compared with another method.

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Back‐stepping sliding mode control method for quadrotor UAV with actuator failure

Cited by 12 publications

References 11 publications

Safety Enhancement of UAVs from the Signal Processing’s Perspectives: A Bird’s Eye View

Safety Enhancement of UAVs from the Signal Processing’s Perspectives: A Bird’s Eye View

Robust Adaptive Output Feedback Control for a Class of Underactuated Aerial Vehicles with Input and Output Constraints

Active fault-tolerant control system for a swash mass helicopter using back-stepping approach

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