Fault-Tolerant Disturbance Observer Based Control for Altitude and Attitude Tracking of a Quadrotor

Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea

doi:10.1109/med.2018.8443048

Cited by 5 publications

(4 citation statements)

References 21 publications

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“…where K = K T > 0 and ϒ = ϒ T > 0 are constant matrices, 0 < r/q < 1, I is identity matrix, (48) where C = C T > 0 is a constant diagonal matrix. Proof 3: Consider a positive Lyapunov function as follows:…”

Section: B Horizontal Position Controlmentioning

confidence: 99%

“…By differentiating L η with respect to time, we havė Using the virtual controller (48), one haṡ L η = −e T η Ce η + S T e η +ė η + q|e…”

Section: B Horizontal Position Controlmentioning

confidence: 99%

“…A DO based attitude tracking controller was developed in [47] to estimate the Coriolis terms and external disturbances. The actuator faults and the uncertainties hampering the performances of the quadrotor have been tackled using the DO based controllers [48]- [50]. Contrary to the traditional DO which guarantees asymptotic stability, the finite time DO (FDO) can attained a finite time stability [50]- [53].…”

Section: Introductionmentioning

confidence: 99%

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Robust Adaptive Multilevel Control of a Quadrotor

Mahmoud

Maaruf

2020

IEEE Access

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This study proposes a new multilevel control of a quadrotor with dynamic uncertainties and time-varying external disturbances. The quadrotor model is partitioned into three subsystems: the vertical position, the horizontal position and the rotational subsystems. First, a double loop integral fast terminal sliding mode control with an adaptive estimator for disturbances' upper-bounds (ADIFTSMC) is proposed for the altitude subsystem to ensure that the quadrotor reaches the desired height. Secondly, a radial basis function neural network backstepping controller (RBFNNBC) is applied to the horizontal subsystem. Finally, by combining a finite time exact disturbance observer with backstepping nonsingular fast terminal sliding mode control (FDOBNFTSMC), the rotational angles converge to the reference angles in the presence of the time-varying disturbances. Furthermore, a Lyapunov stability analysis is used to prove that the tracking errors converge to a small neighborhood of the origin. Numerical simulations illustrate the feasibility of the compound control structure.

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Section: B Horizontal Position Controlmentioning

confidence: 99%

“…By differentiating L η with respect to time, we havė Using the virtual controller (48), one haṡ L η = −e T η Ce η + S T e η +ė η + q|e…”

Section: B Horizontal Position Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Adaptive Multilevel Control of a Quadrotor

Mahmoud

Maaruf

2020

IEEE Access

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“…To deal with the problem of fault, FTC designs have also been reported in the literature. 17–25 Some of them are somewhat successful in providing robustness and satisfactory performance against uncertainties and disturbances in the presence of fault in actuators. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

Dhadekar

Talole

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

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