Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor

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• 作者：Saeed Barghandan ; Mohammad Ali Badamchizadeh…
• 关键词：Adaptive fuzzy sliding mode control ; fault tolerant control ; quadrotor ; trajectory tracking control
• 刊名：International Journal of Control, Automation and Systems
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：15
• 期：1
• 页码：427-441
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Control, Robotics, Mechatronics;
• 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
• ISSN：2005-4092
• 卷排序：15

文摘

In this paper, a model for a Quadrotor helicopter has been considered when a fault has been occurred in its actuators. The sliding mode control technique has been utilized as one of a robust passive fault tolerant control methods to control the Quadrotor’s attitude. An adaptive fuzzy system, as a compensator has been used to compensate the estimation error of nonlinear functions and faulty parts. Although increasing the adaptation rate enhances the responding speed, it is accompanied by closed loop system instability. In order to avoid instability and to increase the robustness of the closed loop system, in this paper, a new parallel fuzzy system has been proposed along with a main fuzzy system. The adaptation rules of the main and parallel fuzzy systems were extracted from Lyapunov’s stability theory. During the numerical simulation, the efficiency of the proposed method has been shown against actuator faults.