Observer based finite-time fault tolerant quadrotor attitude control with actuator faults

Tang, Pan; Lin, Defu; Zheng, Duo; Fan, Sisi; Ye, Jianchuan

doi:10.1016/j.ast.2020.105968

Cited by 71 publications

(44 citation statements)

References 46 publications

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“…In [124,125], the FTC solutions rely on robust and adaptive control laws based on sliding mode and back-stepping theories to compensate the effectiveness loss in actuators. The solution proposed in [126] is based on a continuous fast nonsingular TSM controller, augmented with an adaptive finite-time extended state observer. As opposed to the authors of [127][128][129] who developed finite-time extended state observers, where large gains are employed because of the lumped disturbances unknown bounds, an adaptive procedure is developed with less conservativeness.…”

Section: Aeronautical Applicationsmentioning

confidence: 99%

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

et al. 2021

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This paper is prepared within a collaboration between the Instituto Politécnico Nacional, which is a Mexican research institute that manages research on sliding-mode control theory, and the ARIA research team of the Intégration du Matériau au Système Lab., a French research group that engages research on model-based fault diagnosis and fault-tolerant control theories. The paper reviews the application of sliding mode control techniques to fault tolerant control and provides perspectives leading to posing some open problems. Operating principles, definitions of the basic concepts are recalled along with the control objectives and design procedures. The evolution of the sliding mode control technique through five generations (as classified by Fridman, Moreno and co-workers) is reviewed. Their respective design procedures, limitations, and robustness properties are also highlighted. The application of the five generations of sliding-mode controllers to fault-tolerant control is discussed. The focus is on some open problems that are judged to commonly be overlooked. Some applications in real-world systems are also presented.

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Section: Aeronautical Applicationsmentioning

confidence: 99%

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

et al. 2021

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“…Remark 6 For the previous finite-time control strategies developed in [8,13,[20][21][22]25,27,28,31,42,47], where only part of the input saturation, actuator faults, parametric uncertainty, and external disturbance is taken into account. In this study, all these factors are considered into the controller development.…”

Section: Remarkmentioning

confidence: 99%

“…Compared with the linear SMC, the conventional TSMC has two shortcomings that provide a slower convergence rate and exists a singularity. Therefore, the fast TSMC (FTSMC) [25][26][27] and nonsingular TSMC (NTSMC) [22,28,29] have been proposed successively. However, individual methods based on FTSMC or NTSMC can only overcome one of the above-mentioned shortcomings.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, the great majority of present conclusions may end up with performance degradation under actuator faults. In general, fault-tolerant control (FTC) methods can be mainly classified into two categories, that is, passive FTC (PFTC) [19,28,33,46,47] and active FTC (AFTC) [48]. Compared with the AFTC, PFTC has the ability to overcome the adverse influence of actuator faults quicker, and adapt to complex structures and real-time performance, because the feedback information from the fault diagnosis observer is needless.…”

Section: Introductionmentioning

confidence: 99%

“…Other similar studies in [1-5, 7, 8, 13, 17-19, 19-22, 38, 39, 48] either demand the measurement of the angular velocity or only consider one of these circumstances. 2) As an alternative strategy to eliminate the chattering phenomenon and compensate for the effect of the lumped disturbance, this study presents a novel adaptive fuzzy-based fast switching controller, and which not only guarantees the finite-time stability with fast convergence speed and high tracking precision, but also does not require a stringent assumption that the lumped disturbance and its derivative are both bounded by a constant [8,13,21,22,[27][28][29]44]. This signifies that the proposed control scheme provides a widespread potential for application.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Intelligent Fault-Tolerant Based Finite-Time Attitude Control for Quadrotor UAV Without Angular Velocity Measurements

Kang

Wang

2021

Preprint

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This study considers the problem of finitetime attitude control for quadrotor unmanned aerial vehicles (UAVs) subject to parametric uncertainties, external disturbances, input saturation, and actuator faults. Under the strong approximation of radial basis function neural networks (RBFNN), an adaptive finitetime NN observer is first presented to obtain the accurate information of unavailable angular velocity. More importantly, an adaptive mechanism to adjust the output gain of the fuzzy logic system (FLS) is developed to avoid the selection of larger control gains, and can even work well without the prior information on the bound of the lumped disturbance. Based on the nonsingular fast terminal sliding mode manifold, a novel switching control law is designed by incorporating the adaptive FLS and fast continuous controller in order to remove the undesired chattering phenomenon and solve the negative effects induced from the parametric uncertainty, external disturbance, and actuator fault. To deal with the input saturation, an auxiliary system is constructed. The rigorous theoretical analysis is given to prove that all the signals in the closed-loop system are uniformly bounded, and tracking errors converge into bounded neighborhoods near the origin in finite time. Moreover, the issue of selecting control parameters is analyzed in detail. Last but not least, the comparative simulation results show the validity and feasibility of the proposed control framework.

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Adaptive finite‐time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

Xia

Zhai

et al. 2022

Adaptive Control & Signal

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Summary The problem of attitude tracking control for quadrotor in presence of actuator faults and external disturbances is investigated in this article. By using fast terminal sliding mode control combined with prescribed performance technique, an adaptive control strategy capable of accommodating actuator faults and suppressing external disturbances is designed to achieve attitude finite‐time tracking control with guaranteed performance. In particular, with the help of Nussbaum functions, actuator faults are passively handled without extra development of fault detection and diagnosis mechanism. The finite‐time stability of attitude system under actuator faults and external disturbances is analyzed by Lyapunov stability criterion. Moreover, in order to demonstrate the effectiveness and superiority of proposed control scheme, numerical simulations in different cases are performed and presented in simulation section.

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Observer based finite-time fault tolerant quadrotor attitude control with actuator faults

Cited by 71 publications

References 46 publications

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

Robust Intelligent Fault-Tolerant Based Finite-Time Attitude Control for Quadrotor UAV Without Angular Velocity Measurements

Adaptive finite‐time attitude tracking control of quadrotor under actuator faults and external disturbances with guaranteed performance

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