Sliding-mode fault-tolerant control of the six-rotor UAV with dead-zone-input under event-triggered mechanism

Abstract

This paper investigates the problem of event-triggered mechanism(ETM)-based sliding-mode fault-tolerant control (FTC) for a six-rotor Unmanned Aerial Vehicle (UAV) with dead zone input (DZI) cases, considering potential actuator and sensor faults. Initially, a dynamic ETM is designed, followed by the development of a non-fragile observer utilizing this designed ETM. An integral sliding surface (SS) is then designed in the observation space, and the system is augmented and treated as a variable time delay system. Subsequently, sufficient conditions to ensure the stability of the augmented system with an H∞ performance index γ are obtained using the Lyapunov-Krasovskii function. Next, a sliding mode control (SMC) law is formulated to guide the sliding variables to the SS in finite time. Furthermore, sufficient conditions for ensuring system stability with an H∞ performance index γ are decoupled, and the calculation methods for the non-fragile observer gain matrix and the sliding mode gain matrix are obtained. Finally, to validate the effectiveness of the proposed method in this paper, simulation experiments are conducted.