New Robust Backstepping Attitude Control Approach Applied to Quanser 3 DOF Hover Quadrotor in the Case of Actuators Faults

Abstract

In this paper, a novel robust backstepping-based fault-tolerant control is designed, implemented and validated experimentally on a quadrotor unmanned aerial vehicle testbed under actuator fault conditions for tracking control. Backstepping is known as a robust method to maintain system performance and keep it insensitive to disturbances. The proposed nonlinear controller is mainly based on the advanced robust backstepping method to solve the system uncertainties caused by disturbances and actuator faults, which appear in the motor part of the system and are compensated without diagnostics or fault identification. The various parameters of the proposed approach are optimized using the particle swarm optimization (PSO) method. Owing to the minimized control effort to accommodate uncertainties compared to the conventional backstepping, the proposed approach can still maintain the system performance when severer faults occur. The proposed approach is validated, first, in a simulation using the nonlinear model of the quadrotor, then experimentally, using the Quanser 3DOF Hover quadrotor. Both theoretical and experimental analyses have demonstrated that the effectiveness of the proposed improved backstepping fault-tolerant control strategies faces significant loss of actuator efficiency.