Finite-time fault tolerant control of quadrotor UAV with actuator faults

被引：2
|
作者：
Zhang S.-J. [1 ]
Wu H.-Y. [1 ]
Zheng X.-J. [1 ]
机构：
[1] (Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology
[2] Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 07期
基金：
中国国家自然科学基金;
关键词：
actuator faults; fast terminal sliding mode control; fault tolerant control; unmanned aerial vehicle;
D O I：
10.7641/CTA.2022.20173
中图分类号：
学科分类号：
摘要：
This article focuses on the control problem of finite-time trajectory tracking of quadrotor UAV in the case of external interferences, and both partial and bias fault of actuators. By analyzing the dynamic characteristics of quadrotor UAV, the dynamic model with external interferences and actuator faults is constructed. Based on the robust global fast terminal sliding mode control algorithm, a finite-time fault-tolerant controller is designed to improve the response speed of the system to the fault. Secondly, for constant / time-varying faults and disturbances, the improved continuous function is used for compensation in the controller design, which reduces the problem of the system chattering caused by switching function, and the stability of the controller is analyzed based on the Lyapunov function. Finally, the effectiveness and the reliability of the designed controller are verified by simulation experiments, and the UAV can achieve better trajectory tracking performance under the condition of actuator failures and external interferences. © 2023 South China University of Technology. All rights reserved.
引用
收藏
页码：1270 / 1276
页数：6
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