Fuzzy adaptive nonlinear sensor‐fault tolerant control for a quadrotor unmanned aerial vehicle

Abstract

In this paper, a novel fuzzy adaptive nonlinear fault tolerant control design scheme is proposed for attitude dynamics of quadrotor UAV subjected to four sensor faults (bias, drift, loss of accuracy, loss of effectiveness). The sensor faults in Euler angle loop are transformed equivalently into a mismatched uncertainty vector, and other unknown items involving faults, uncertain parameters and external disturbances in angular velocity loop are lumped into an unknown nonlinear function vector.Fuzzy logic systems with adaptive parameters are used to approximate the mismatched uncertainty and lumped nonlinear function vectors. Dynamic surface control is applied to design the fault tolerant controller, and sliding mode control is introduced to improve the control accuracy. All signals of the closed-loop control system are proved to be semi-global uniformly ultimately bounded. Simulations demonstrate the effectiveness of the proposed approach for sensor faults. KEYWORDS dynamic surface control, fault tolerant control, fuzzy logic system, Quadrotor unmanned aerial vehicle, sensor fault, sliding mode control

Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

“…Assumption 1. (see [40]). For the sensor fault D, there exist corresponding inequality conditions ‖D‖ ≤ τ 0 , ‖ _ D‖ ≤ τ 1 , and…”

“…We assume that accuracy losses of the airspeed head sensor and the optical camera sensor are considered in this study. e loss of accuracy of two sensors is given as follows [40]:…”

“…In [39], the estimation method was studied for flight control systems with sensor fault based on the identification of aerodynamic parameters. In [40], a fuzzy adaptive tolerant control scheme was proposed for a quadrotor unmanned aerial vehicle with nonlinear sensor fault. However, the fault-tolerant control methods are rare for the suspension cable system of an unmanned helicopter with sensor fault which needs to be further studied.…”

Dynamic output feedback control with output quantizer for nonlinear uncertain T‐S fuzzy systems with multiple time‐varying input delays and unmatched disturbances

“…Although adaptive fuzzy or backstepping control has become one of the most important design approaches for nonlinear systems without satisfying matching conditions, it has achieved many important results [14]. However, the existing adaptive fuzzy or backstepping controller focuses on nonlinear uncertain systems, which cannot be applied to nonlinear uncertain systems with unmatched disturbances [15].…”

Active fault tolerant control based on eigenstructure assignment applied to a 3‐DOF helicopter

“…The design is based on a control signal combination generated by a set of linear quadratic state feedback controllers. A fuzzy adaptive nonlinear FTC scheme [6] is proposed for attitude dynamics of a quadrotor affected with several sensor faults such as bias, drift, loss of accuracy, and loss of effectiveness. Regarding a FTC for a 3‐DOF helicopter, the stabilization problem considering actuator faults is addressed in [7], by means of the H ∞ methodology.…”