Disturbance Observer-based Nonsingular Fast Terminal Sliding Mode Fault Tolerant Control of a Quadrotor UAV with External Disturbances and Actuator Faults
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, t...
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| Published in | International journal of control, automation, and systems Vol. 20; no. 4; pp. 1122 - 1130 |
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| Main Authors | , , , , |
| 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 |
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| Abstract | 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. |
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| AbstractList | 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. 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. KCI Citation Count: 0 |
| Author | Ma, Zhigang Zhou, Chao Wang, Fang Hua, Changchun Gao, Hongmei |
| Author_xml | – sequence: 1 givenname: Fang orcidid: 0000-0002-8180-7839 surname: Wang fullname: Wang, Fang email: wangfang@ysu.edu.cn organization: School of Science, Yanshan University – sequence: 2 givenname: Zhigang surname: Ma fullname: Ma, Zhigang organization: School of Science, Yanshan University – sequence: 3 givenname: Hongmei surname: Gao fullname: Gao, Hongmei organization: School of Science, Yanshan University – sequence: 4 givenname: Chao surname: Zhou fullname: Zhou, Chao organization: Ocean College of Hebei Agricultural University – sequence: 5 givenname: Changchun surname: Hua fullname: Hua, Changchun organization: School of Electric Engineering, Yanshan University |
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| Cites_doi | 10.1109/TCST.2017.2670522 10.1007/s12555-018-0909-9 10.1109/MRA.2012.2206473 10.1016/j.isatra.2020.06.006 10.1016/j.isatra.2019.04.034 10.1016/j.ifacol.2016.03.067 10.1177/0142331215608427 10.1109/JSEE.2015.00063 10.1109/TCST.2018.2872462 10.1016/j.isatra.2014.01.004 10.1109/TCST.2005.847331 10.1016/j.ast.2019.04.055 10.1007/s12555-019-0116-3 10.1016/j.automatica.2019.108515 10.1016/j.actaastro.2014.01.025 10.1016/j.ymssp.2018.11.001 10.3182/20120829-3-MX-2028.00056 10.1016/j.ast.2019.01.053 10.1016/S0005-1098(02)00147-4 10.1002/asjc.399 10.1109/ACCESS.2020.2998698 10.1109/TIE.2016.2547365 10.1109/TIE.2017.2739700 10.1007/s12555-016-0013-y 10.1002/rob.20414 10.1016/j.ast.2019.105306 |
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| Keywords | quadrotor UAV nonsingular fast terminal sliding mode (NFTSM) Actuator additive fault disturbance observer (DO) external disturbance |
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| Snippet | This paper addresses a nonsingular fast terminal sliding mode fault tolerant control (NFTSMFTC) scheme based on disturbance observer (DO) for a quadrotor UAV... |
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| SubjectTerms | 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 |
| Title | Disturbance Observer-based Nonsingular Fast Terminal Sliding Mode Fault Tolerant Control of a Quadrotor UAV with External Disturbances and Actuator Faults |
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