Sliding Mode Fault Tolerant Control for a Quadrotor with Varying Load and Actuator Fault

Abstract

In this paper, an adaptive sliding mode fault-tolerant control scheme based on prescribed performance control and neural networks is developed for an Unmanned Aerial Vehicle (UAV) quadrotor carrying a load to deal with actuator faults. First, a nonsingular fast terminal sliding mode (NFTSM) control strategy is presented. In virtue of the proposed strategy, fast convergence and high robustness can be guaranteed without stimulating chattering. Secondly, to obtain correct fault magnitudes and compensate the failures actively, a radial basis function neural network-based fault estimation scheme is proposed. By combining the proposed fault estimation strategy and the NFTSM controller, an active fault-tolerant control algorithm is established. Then, the uncertainties caused by load variation are explicitly considered and compensated by the presented adaptive laws. Moreover, by synthesizing the proposed sliding mode control and prescribed performance control (PPC), an output error transformation is defined to deal with state constraints and provide better tracking performance. From the Lyapunov stability analysis, the overall system is proven to be uniformly asymptotically stable. Finally, numerical simulation based on a quadrotor helicopter is carried out to validate the effectiveness and superiority of the proposed algorithm.

Adaptive finite-time fault-tolerant control for Robot trajectory tracking systems under a novel smooth event-triggered mechanism

“…4. In contrast to the traditional controllers, 2,3,[6][7][8][9][10][11][12] which only guarantee the steady behavior and ignore the state constraints, an adaptive controller combining the novel time-varying barrier Lyapunov function and finite-time performance function is proposed, all the closed-loop system signals are bounded, and the tracking errors are convergent within finite time.…”

“…1,2 However, UAVs will inevitably suffer various failures under complex flight environments and long periods of high-load operation. 3 Once the faults occur, if not accommodated properly and promptly, it would result in significant performance degradation or even disastrous consequences. Therefore, it is worthwhile to develop an effective, stable, and reliable fault-tolerant control (FTC) for the quadrotor trajectory tracking systems.…”

Research on Fault-Tolerant Control of Combined Airframe Damage of Electric Aircraft

“…Lu studied a longitudinal control law for unmanned aerial vehicles with modeling uncertainty and input interference based on the L1 adaptive control method [21]. Yang developed an adaptive sliding mode fault-tolerant control scheme based on prescribed performance control and neural networks for an unmanned aerial vehicle [22]. Gao proposed a novel adaptive fault-tolerant controller based on the fuzzy neural network (FNN) and nonsingular fast terminal sliding-mode (NFTSM) control scheme for tracking control and vibration suppression of the flexible wings, and successfully addressed the issues of system uncertainties and actuator failures [23].…”

On Active Vibration Absorption in Motion Control of a Quadrotor UAV

“…Additionally, several disturbances observers have been properly reported in [28][29][30][31] for compositing interesting control schemes. Moreover, nonlinear controllers based on sliding modes [32][33][34] and backstepping [35][36][37] approaches have been suitably introduced to deal with disturbances and uncertainties in quadrotor vehicles and, in some studies, further extended for fault tolerant controllers. In addition, important contributions based on theories such as robust H ∞ control [38], model predictive control [39], generalized proportional-integral control [40], energy-based control [41,42], optimal control [21,43], Lyapunov-based control [44], adaptive control [45,46], etc., have vastly improved the performance of quadrotors in regulation and tracking tasks.…”