An adaptive sliding mode fault‐tolerant control of a quadrotor unmanned aerial vehicle with actuator faults and model uncertainties

• Published in: International journal of robust and nonlinear control Vol. 33; no. 17; pp. 10182 - 10198
• Main Authors: Wang, Ban, Shen, Yanyan, Li, Ni, Zhang, Youmin, Gao, Zhenghong
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 25.11.2023
• Subjects: Actuators; Adaptive control; Boundary layers; Sliding mode control; Uncertainty; Unmanned aerial vehicles; Unmanned helicopters
• ISSN: 1049-8923; 1099-1239
• DOI: 10.1002/rnc.6631

An adaptive sliding mode fault‐tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle in this article to accommodate actuator faults and model uncertainties. First, a new reaching law is proposed, with which a sliding mode control (SMC) law is constructed. The proposed reaching law is made up of a sliding variable and the distance between it and a designated boundary layer, and it can effectively suppress the unexpected control chattering while preserving the necessary system tracking performance. Then, an adaptive SMC scheme is proposed to further solve the fault and uncertainty compensation problem. The proposed adaptation law helps to prevent overestimation of the adaptive control parameters, as well as avoiding control chattering. Finally, a number of comparative simulation tests are carried out to validate the effectiveness and superiority of the proposed control strategy. The demonstrated quantitative comparison results confirm its advantages.