Disturbance Observer-based Nonsingular Fast Terminal Sliding Mode Fault Tolerant Control of a Quadrotor UAV with External Disturbances and Actuator Faults

• Published in: International journal of control, automation, and systems Vol. 20; no. 4; pp. 1122 - 1130
• Main Authors: Wang, Fang, Ma, Zhigang, Gao, Hongmei, Zhou, Chao, Hua, Changchun
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.04.2022; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Actuators; Control; Control systems design; Disturbance observers; Dynamic characteristics; Engineering; Error analysis; Fault tolerance; Faults; Feedback control; Mechatronics; Regular Papers; Robotics; Sliding mode control; Stability analysis; Subsystems; Tracking errors; Unmanned aerial vehicles; 제어계측공학; quadrotor UAV; nonsingular fast terminal sliding mode (NFTSM); Actuator additive fault; disturbance observer (DO); external disturbance
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-020-0773-2

This paper addresses a nonsingular fast terminal sliding mode fault tolerant control (NFTSMFTC) scheme based on disturbance observer (DO) for a quadrotor UAV in the presence of external disturbances and actuator additive faults. Firstly, by analyzing the dynamic characteristics of a quadrotor UAV, the model is decoupled into outer-loop (position subsystem) and inner-loop (attitude subsystem). Secondly, the DO is utilized to deal with external disturbances and actuator additive faults effectively. Furthermore, nonsingular fast terminal sliding mode control (NFTSMC) can avoid the chattering problems of traditional sliding mode control (SMC) and singularity problems of terminal SMC. Moreover, compared with nonsingular terminal SMC, it behaves the faster convergence rate. So the NFTSMC method is applied to design controller. Finally, in the framework of Lyapunov theory, the stability of the closed-loop system is analyzed, and the tracking error is asymptotically stable. The effectiveness of the proposed control scheme is verified by simulation results.