Robust fault-tolerant control for quadrotor UAVs with parameter uncertainties and actuator faults
Hao Liu1
Yuying Guo1
Youmin Zhang2
Bin Jiang3
1.School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China2.Department of Mechanical,Industrial and Aerospace Engineering,Concordia University,Montreal,Quebec H3G 1M8,Canada3.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,Jiangsu,China
摘要：In this paper,a novel robust composite sliding mode controller(RCSMC)is proposed to accommodate actuator faults for a quadrotor UAV subject to unknown disturbances.The closed-loop system is divided into two parts:the nominal system without disturbances which is controlled by the designed baseline controller,and the equivalent total disturbances including parameter uncertainties and actuator faults,which is estimated by the developed adaptive finite-time extended state observer(AFTESO).The estimated total disturbances are rejected by RCSMC and the asymptotic stability of flight control system is guaranteed.The proposed method is verified through numerical simulations.
机标关键词：parameterrobustcontroluavswithactuatorfault-tolerantfaults
论文发表日期：2024-11-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：15( 581-595 )
英文信息