Affiliation:
1. College of Information Engineering and Automation, Civil Aviation University of China, South Campus, Tianjin 300300, China
2. Tianjin College, University of Science & Technology Beijing, Tianjin 301830, China
Abstract
Considering mismatched disturbances, aerodynamic interference, chattering, and actuator failure in the attitude control of the quadrotor unmanned aerial vehicle (UAV), this paper establishes a new quadrotor UAV model with mismatched disturbances, based on quaternion, and designs a fault tolerant controller. First, in order to reduce the chattering of the traditional reaching law, a new reaching law based on the sigmoid function is introduced into the design. Second, the sliding mode control and backstepping control methods are adopted, based on the new fractional-order sliding mode surface when the faults occur in quadrotor UAV actuators, and parameters in the sliding mode control are adaptively adjusted. The simulation results show that the fault tolerant control method can control the attitude of UAV quickly and achieve good robustness.
Funder
Key Research and Development Program of Tianjin, China
Subject
Statistics and Probability,Statistical and Nonlinear Physics,Analysis
Cited by
2 articles.
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