Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor

Barghandan, Saeed; Badamchizadeh, Mohammad Ali; Jahed‐Motlagh, Mohammad Reza

doi:10.1007/s12555-015-0313-7

Cited by 66 publications

(38 citation statements)

References 16 publications

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“…In [3,4], a continuous terminal SMC and dynamic SMC technique are proposed to improve the control performance of uncertainties nonlinear systems. Another approach is presented in [5] to overcome the instability of a quadrotor when actuator faults have occurred. An integration of adaptive fuzzy technique and SMC method to provide the robustness for the attitude control of the vehicle is introduced.…”

Section: Related Workmentioning

confidence: 99%

Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Thanh

Hong

2019

Electronics

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This paper introduces a robust dynamic sliding mode control algorithm using a nonlinear disturbance observer for system dynamics. The proposed method is applied to provide a rapid adaptation and strictly robust performance for the attitude and altitude control of unmanned aerial vehicles (UAVs). The procedure of the proposed method consists of two stages. First, a nonlinear disturbance observer is applied to estimate the exogenous perturbation. Second, a robust dynamic sliding mode controller integrated with the estimated values of disturbances is presented by a combination of a proportional–integral–derivative (PID) sliding surface and super twisting technique to compensate for the effect of these perturbations on the system. In addition, the stability of a control system is established by Lyapunov theory. A numerical simulation was performed and compared to recently alternative methods. An excellent tracking performance and superior stability of the attitude and altitude control of UAVs, exhibiting a fast response, good adaptation, and no chattering effect in the simulation results proved the robustness and effectiveness of the proposed method.

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Section: Related Workmentioning

confidence: 99%

Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Thanh

Hong

2019

Electronics

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“…Fault‐tolerant flight control (FTC) schemes have been studied extensively in the literature . The dynamic model of an aircraft changes significantly after the fault occurrence, which leads to reduced effectiveness of the controllers that are designed based on a nominal model and in some cases the closed‐loop system becomes unstable after the fault occurrence.…”

Section: Introductionmentioning

confidence: 99%

“…The stability of the closed‐loop system has been proved based on Lyapunov stability. An adaptive fuzzy sliding mode control has been designed in the work of Barghandan et al to overcome the effects of occurred faults and current model uncertainties using an adaptive fuzzy compensator. The sliding mode control has been used in the paper as a passive FTC along with an adaptive fuzzy system to compensate for the estimation error of nonlinear functions and faulty parts.…”

Section: Introductionmentioning

confidence: 99%

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

Emami

Banazadeh

2019

Intl J Robust & Nonlinear

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Summary This research deals with developing an intelligent trajectory tracking control approach for an aircraft in the presence of internal and external disturbances. Internal disturbances including actuators faults, unmodeled dynamics, and model uncertainties as well as the external disturbances such as wind turbulence significantly affect the performance of the common trajectory tracking control approaches. There are several fault‐tolerant control approaches in the literature to overcome the effects of specific actuator or sensor faults during the flight. However, trajectory tracking control of an air vehicle in the presence of unexpected faults and simultaneous presence of wind turbulence is still a challenging problem. In this paper, an intelligent neural network‐based model predictive control structure is proposed, where the prediction model is updated in each iteration based on a novel proposed online sequential multimodel structure. A hybrid offline‐online learning algorithm is adopted in the introduced online sequential multimodel structure to identify the time‐varying dynamics of the system. The proposed control structure can satisfactorily deal with unexpected actuator faults and structural damages as well as unmodeled dynamics and wind turbulence. The stability of the closed‐loop system is proved under some realistic assumptions. The simulation results demonstrate the high capability of the proposed approach for trajectory tracking control of a conventional aircraft in the simultaneous presence of system faults and external disturbances.

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“…However, the proposed approach suffers from different complexities. Authors in [6], have proposed an adaptive fuzzy SMC for a quadrotor UAV. The control structure includes a PID control for the position tracking and an adaptive SMC with a parallel fuzzy system in the attitude control block.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Fault-Tolerant Trajectory Tracking Control of a Quadrotor UAV

Emami¹,

Banazadeh²

2019

IJMO

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An adaptive fault-tolerant sliding mode control is presented in this paper. A regular sliding mode controller is designed as the inner loop of the control structure, while in the outer loop the desired trajectory components are converted to the desired attitude. The problem of identification of the faulty subsystems' dynamics is converted to the mathematical problem of determining the unknown coefficients of a Linear-In-Parameter (LIP) model. Subsequently, an effective observer is developed in the paper based on the well-known Online Sequential Extreme Learning Machine (OS-ELM) approach in order to identify the dynamics of faulty subsystems and afterward, a disturbance observer is proposed to estimate the effects of external disturbances on the dynamic model. Furthermore, the stability of the closed-loop system is analyzed based on the Lyapunov theorem. The introduced control structure is applied to a quadrotor Unmanned Aerial Vehicle (UAV) for tracking a predefined trajectory in the 3D environment. The simulation results demonstrate that using the proposed control scheme, the air vehicle can follow the desired trajectory in the presence of simultaneous actuator faults and external disturbances.

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Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor

Cited by 66 publications

References 16 publications

Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Robust Dynamic Sliding Mode Control-Based PID–Super Twisting Algorithm and Disturbance Observer for Second-Order Nonlinear Systems: Application to UAVs

Intelligent trajectory tracking of an aircraft in the presence of internal and external disturbances

Nonlinear Fault-Tolerant Trajectory Tracking Control of a Quadrotor UAV

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