A novel sliding mode fault-tolerant control for quadrotors based on non-singular fast terminal super-twisting algorithm

被引：0
作者：
Xie, Zuoyu [1 ,2 ]
Zhao, Jing [1 ,2 ]
Li, Xinhuang [1 ,2 ]
Yang, Zhengwei [1 ,2 ]
Huang, Haiyun [1 ,2 ]
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing, Peoples R China
[2] Nanjing Univ Posts & Telecommun, Coll Artificial Intelligence, Nanjing, Peoples R China
来源：
2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年
关键词：
Quadrotor; Super-twisting; Sliding mode Control; Adaptive Control; Trajectory tracking;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presented an adaptive fault-tolerant control(FTC) strategy based on super-twisting algorithm for quadrotor with actuator faults and external disturbances. Firstly, the quadrotor fault model is introduced. Then an adaptive fault estimation scheme is proposed for time-varying actuator faults. Furthermore, based on the idea of inner and outer loop, controllers of position subsystem and attitude subsystem are designed respectively. Finally, the effectiveness of proposed method is verified.
引用
收藏
页码：3942 / 3947
页数：6
相关论文
共 16 条
  • [1] Robust Backstepping Sliding-Mode Control and Observer-Based Fault Estimation for a Quadrotor UAV
    Chen, Fuyang
    Jiang, Rongqiang
    Zhang, Kangkang
    Jiang, Bin
    Tao, Gang
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (08) : 5044 - 5056
  • [2] Hamadi H, 2019, INT CONF UNMAN AIRCR, P397, DOI [10.1109/ICUAS.2019.8798307, 10.1109/icuas.2019.8798307]
  • [3] Hoang VT, 2017, ASIA CONTROL CONF AS, P671, DOI 10.1109/ASCC.2017.8287250
  • [4] Vision-Based Adaptive Neural Positioning Control of Quadrotor Aerial Robot
    Lyu, Yi
    Lai, Guanyu
    Chen, Ci
    Zhang, Yun
    [J]. IEEE ACCESS, 2019, 7 : 75018 - 75031
  • [5] Nonlinear High-Gain Observer-Based Diagnosis and Compensation for Actuator and Sensor Faults in a Quadrotor Unmanned Aerial Vehicle
    Ma, Hong-Jun
    Liu, Yanli
    Li, Tianbo
    Yang, Guang-Hong
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2019, 15 (01) : 550 - 562
  • [6] Ma S, 2018, CHIN CONT DECIS CONF, P6344, DOI 10.1109/CCDC.2018.8408244
  • [7] Mallavalli S, 2017, 2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA 2017), P596, DOI 10.1109/CCTA.2017.8062527
  • [8] Nonlinear PID-Type Controller for Quadrotor Trajectory Tracking
    Moreno-Valenzuela, Javier
    Perez-Alcocer, Ricardo
    Guerrero-Medina, Manuel
    Dzul, Alejandro
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2018, 23 (05) : 2436 - 2447
  • [9] Mu??oz F., 2015, 12 INT C EL ENG COMP, P1, DOI DOI 10.1109/ICEEE.2015.7357989
  • [10] Shi XY, 2020, INT CONF UNMAN AIRCR, P512, DOI [10.1109/icuas48674.2020.9214046, 10.1109/ICUAS48674.2020.9214046]
12