Affiliation:
1. School of Aeronautics Northwestern Polytechnical University Xi'an Shaanxi China
2. Department of Electrical and Computer Engineering Concordia University Montreal Quebec Canada
3. Department of Mechanical, Industrial and Aerospace Engineering Concordia University Montreal Quebec Canada
Abstract
AbstractAn adaptive sliding mode fault‐tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle in this article to accommodate actuator faults and model uncertainties. First, a new reaching law is proposed, with which a sliding mode control (SMC) law is constructed. The proposed reaching law is made up of a sliding variable and the distance between it and a designated boundary layer, and it can effectively suppress the unexpected control chattering while preserving the necessary system tracking performance. Then, an adaptive SMC scheme is proposed to further solve the fault and uncertainty compensation problem. The proposed adaptation law helps to prevent overestimation of the adaptive control parameters, as well as avoiding control chattering. Finally, a number of comparative simulation tests are carried out to validate the effectiveness and superiority of the proposed control strategy. The demonstrated quantitative comparison results confirm its advantages.
Funder
National Natural Science Foundation of China
Fundamental Research Funds for the Central Universities
Natural Sciences and Engineering Research Council of Canada
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering
Cited by
35 articles.
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