Appointed-time prescribed performance fault tolerant control for QUAV with actuator fault and model parameters uncertainties

• Published in: IEEE access Vol. 10; p. 1
• Main Authors: Wu, Xiaojing, Han, Xinrui, Zhen, Ran, Shao, Shikai
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.01.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: actuator fault; Actuators; Adaptive control; Aerodynamics; appointed-time prescribed performance function(ATPPF); Attitude control; Closed loops; Control methods; Convergence; Coordinate transformations; Damping; Disturbances; Dynamic stability; external disturbance; Fault tolerance; Fault tolerant systems; Feedback control; Mathematical models; Parameter uncertainty; quadrotor unmanned aerial vehicle (QUAV); Quadrotors; Rotary inertia; Surface stability; Tracking errors; Uncertain systems; Unmanned aerial vehicles; Unmanned helicopters
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2022.3230794

In this paper, an appointed-time prescribed performance fault-tolerant control (ATPPFTC) method for quadrotor unmanned aerial vehicle (QUAV) system is studied in the presence of model parameters uncertainties, actuator faults and external disturbances. For the position loop and the attitude loop, the proposed method overcomes the model parameters uncertainties caused by the changes of rotary inertia, the mass and aerodynamic damping coefficients. Meanwhile, unknown actuator faults and unknown external disturbances are investigated by using adaptive method. Moreover, a new appointed-time prescribed performance function and coordinate transformation are introduced to impose performance characteristics on the tracking errors. Based on the Lyapunov stability theory, an adaptive dynamic surface control method is proposed to ensure that the position and attitude tracking errors of the closed-loop system can achieve the appointed-time convergence and prescribed transient and steady-state performance. Incidentally, the convergence speed and convergence time of the system tracking error can be set flexibly. Finally, the simulation verifies the effectiveness and superiority of the proposed control scheme from both qualitative and quantitative aspects.