Fault Tolerant Control For A Quadrotor Under Actuator Fault Based On Sliding Mode Control

Quadrotor Unmanned Aerial Vehicles(UAV)are more and more widely used in various industries,such as power inspection,agricultural plant protection and environment monitoring with the advantages of simple structure,low cost,and flexible take-off and landing.In order to reduce the sensitivity of the aircraft to external disturbances such as airflow and wind resistance,reduce the hidden safety hazards caused by motor faults,and achieve reliable and safe control of the quadrotor UAV.This paper designs a series of fault-tolerant control(FTC)schemes of quadrotor under external disturbance and actuator faults.The specific research work is as follows:Firstly,based on the nonlinear model of the quadrotor UAV system with external disturbance and actuator bias fault,taking advantages of sliding mode control(SMC)technology,a novel adaptive integral sliding mode surface is proposed with the sliding mode parameters automatically updated by adaptive laws.The designed compensation is to deal with external disturbances.Simulation experiments using MATLAB verify that the designed fault-tolerant controller can effectively solve the tracking control of UAV posture under disturbances and faults;Secondly,focusing on the nonlinear model of the quadrotor UAV and taking into account external disturbances and actuator LOE fault at the same time.A nonlinear observer is proposed to estimate the fault factors in real time,and the backstepping technology and ternimal sliding mode control(TSMC)technology are combined in the controller design to compensate the impact of fault.Simulation comparison using MATLAB validates the estimated performance of the designed nonlinear observer and the effectiveness of the designed fault-tolerant controller.Thirdly,the T-S fuzzy linear model of quadrotor UAV is established.At the same time,a linear fault observer and a fault-tolerant controller are designed taking into account external disturbances and actuator bias faults of quadrotor UAV.The simulation experiments using MATLAB verify the rationality of the established T-S fuzzy linear model.The proposed observer-based sliding mode faulttolerant controller can effectively suppress the impact of faults on the system and improve the stability and robustness of the system.Finally,the work completed in this paper is summarized,and related work of FTC technology of quadrotor UAV is further considered and prospected.