Adaptive dynamic surface output feedback control for a class of quadrotor aircraft with actuator faults

Abstract

PurposeThe purpose of this study is to propose an adaptive fault-tolerant control approach based on output feedback for a class of quadrotor unmanned aerial vehicles system. In the event of a controlled actuator failure, a stable flying of the aircraft can be achieved by selecting an appropriate sliding mode surface.Design/methodology/approachAiming at the actuator failure of quadrotor aircraft during flight in the controllable range, a dynamic surface sliding mode passive fault-tolerant controller based on output feedback is designed based on the strong robustness of sliding mode method. Due to the unknown nonlinearity dynamics and parameter uncertainties in the system, a nonlinear observer is used to estimate them online.FindingsThe stability of the suggested algorithm is established using appropriate Lyapunov functions, and the performance of the proposed control approach is demonstrated using hardware-in-the-loop simulation.Originality/valueAn error performance function is introduced into the controller to ensure the convergence speed and accuracy of errors are within the predetermined range. By using the norm estimation method, there is only one parameter that needs to be updated in each step of the control process, which considerably minimizes the calculation burden. Finally, the validity of the proposed control scheme is verified on the hardware-in-the-loop simulation, and the results show that the proposed control method has achieved the desired results.