Abstract
Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.
Highlights
Unmanned Aerial Vehicles (UAVs) are attracting an increasing amount of attention in research community, including from the manufacturing industry, academia, and government [1]
Compared with the conventional aircraft, the quadcopter UAVs have many significant benefits, e.g., mechanical simplicity, stable hovering, small physical size, vertical take-off and landing (VTOL), and the ability to operate in- and outdoors. This reliability and versatility contributed to their popularity in comparison to other UAV systems
Control strategy is a challenging issue for the quadcopter design
Summary
Unmanned Aerial Vehicles (UAVs) are attracting an increasing amount of attention in research community, including from the manufacturing industry, academia, and government [1] This popularity may provide different applications such as, rescue missions [2,3], machine learning [4,5], mapping [6,7], and remote sensing [8]. Compared with the conventional aircraft, the quadcopter UAVs have many significant benefits, e.g., mechanical simplicity, stable hovering, small physical size, vertical take-off and landing (VTOL), and the ability to operate in- and outdoors. The goal of this paper is to design a fault-tolerant control (FTC) method to handle the complete loss of an actuator, which combines the fault diagnosis (FD) scheme and FTC method into a single unit
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