Nonlinear fault tolerant control design for quadrotor unmanned aerial vehicle attitude system

被引：0

作者：

Hao, Wei ^{[1
]}

Xian, Bin ^{[1
]}

机构：

[1] Institute of Robotics and Autonomous System, School of Electrical Engineering and Automation, Tianjin University, Tianjin

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2015年 / 32卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Adaptive control; Fault tolerant; Loss of effectiveness of actuator; Quadrotor; Sliding mode control; UAV;

D O I：

10.7641/CTA.2015.50462

中图分类号：

学科分类号：

摘要：

This paper is devoted to deal with the attitude control of the quadrotor unmanned aerial vehicle (UAV) with partial loss of effectiveness of its actuators. After analyzing the dynamic characteristics of the quadrotor UAV, we add the actuator failures to the system model in the form of multiplicative factor to obtain the dynamic model of quadrotor UAV with actuator failures. Then we develop a new nonlinear fault tolerant control (FTC) method based on the adaptive sliding mode control in the case of both unknown external perturbations and actuator failures. The asymptotical stability of the proposed controller is proved based on Lyapunov method. The real-time flight tests are implemented on the quadrotor UAV testbed and the results show that the proposed controller has achieved good robustness with respect to unknown external disturbances and partial loss of effectiveness of quadrotor UAV actuators. © 2015, Editorial Department of Control Theory & Applications. All right reserved.

引用

页码：1457 / 1463

页数：6

共 14 条

[1]

Zhao B., Xian B., Zhang Y., Et al., Nonlinear robust adaptive tracking control of a quadrotor UAV via immersion and invariance methodology, IEEE Transactions on Industrial Electronics, 62, 5, pp. 2891-2902, (2014)

[2]

Zhang Y.M., Chamseddine A., Rabbath C.A., Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed, Journal of the Franklin Institute, 350, 9, pp. 2396-2422, (2013)

[3]

Sadeghzadeh I., Mehta A., Zhang Y.M., Et al., Fault-tolerant trajectory tracking control of a quadrotor helicopter using gainscheduled PID and model reference adaptive control, Annual Conference of the Prognostics and Health Management Society, 9, pp. 1-10, (2011)

[4]

Li T., Zhang Y.M., Gordon B.W., Passive and active nonlinear fault-tolerant control of a quadrotor unmanned aerial vehicle based on the sliding mode control technique, Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 227, 1, pp. 12-23, (2012)

[5]

Dydek Z.T., Annaswamy A.M., Lavretsky E., Adaptive control of quadrotor UAVs: a design trade study with flight evaluations, IEEE Transactions on Control Systems Technology, 21, 4, pp. 1400-1406, (2013)

[6]

Dydek Z.T., Annaswamy A.M., Lavretsky E., Combined/ Composite adaptive control of a quadrotor UAV in the presence of actuator uncertainty, AIAA Guidance, Navigation, and Control Conference, 8, pp. 7575-7584, (2010)

[7]

Cen Z.H., Noura H., Susilo T.B., Et al., Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer, Chinese Control and Decision Conference, 5, pp. 2971-2975, (2013)

[8]

Cen Z.H., Noura H., Al Y.Y., Systematic fault tolerant control based on adaptive thau observer estimation for quadrotor UAVs, International Journal of Applied Mathematics and Computer Science, 25, 1, pp. 159-174, (2015)

[9]

Chen F.Y., Wu Q., Jiang B., Et al., A reconfiguration scheme for quadrotor helicopter via simple adaptive control and quantum logic, IEEE Transactions on Industrial Electronics, 62, 7, pp. 4328-4335, (2015)

[10]

Yang H., Jiang B., Zhang K., Dirent self-repairing control for four-rotor helicopter attitude systems, Control Theory & Applications, 31, 8, pp. 1053-1060, (2014)

← 1 2 →