VGESO-Based Finite-Time Fault-Tolerant Tracking Control for Quadrotor Unmanned Aerial Vehicle

Author:

Shen Haidong1ORCID,Du Jiwei2,Yan Kun2ORCID,Liu Yanbin1ORCID,Chen Jinbao1

Affiliation:

1. College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

2. School of Electronic Information Engineering, Xi’an Technological University, Xi’an 710021, China

Abstract

Based on the variable gain extended state observer, a finite-time fault-tolerant control strategy is developed for the quadrotor unmanned aerial vehicle with actuator faults and external disturbances. Firstly, a novel variable gain extended state observer is designed to estimate the unknown external disturbances, which mitigates the initial peaking phenomenon existing in traditional extended state observer-based methods. Meanwhile, the neural networks are applied to accurately approximate unknown couplings online. Moreover, with the help of the projection operator technique, the unknown actuator faults are observed in real time. Combined with the backstepping framework, the finite-time robust fault-tolerant control scheme is constructed and the stability is strictly proved via Lyapunov’s theory. Finally, the validity of the developed control scheme is demonstrated through numerical simulations.

Funder

Xi’an University

Publisher

Hindawi Limited

Subject

Aerospace Engineering

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