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		Hao Liu1,Yuying Guo1,Youmin Zhang2,Bin Jiang3.[en_title][J].Control Theory and Technology,2024,22(4):581~595.[Copy]

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HaoLiu1,YuyingGuo1,YouminZhang2,BinJiang3
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(1 School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan, China;2 Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada;3 College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, Jiangsu, China)

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DOI：https://doi.org/10.1007/s11768-024-00228-4

基金项目:This work was supported by the Innovation Fund of Key Laboratory of High-Altitude Simulating Technology, AECC Sichuan Turbine Research Institute (18zd9101).

Robust fault-tolerant control for quadrotor UAVs with parameter uncertainties and actuator faults

Hao Liu1,Yuying Guo1,Youmin Zhang2,Bin Jiang3

(1 School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, Sichuan, China;2 Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Quebec H3G 1M8, Canada;3 College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, Jiangsu, China)

Abstract:

In this paper, a novel robust composite sliding mode controller (RCSMC) is proposed to accommodate actuator faults for a quadrotor UAV subject to unknown disturbances. The closed-loop system is divided into two parts: the nominal system without disturbances which is controlled by the designed baseline controller, and the equivalent total disturbances including parameter uncertainties and actuator faults, which is estimated by the developed adaptive finite-time extended state observer (AFTESO). The estimated total disturbances are rejected by RCSMC and the asymptotic stability of flight control system is guaranteed. The proposed method is verified through numerical simulations.

Key words: Actuator fault · Model uncertainty · Adaptive finite-time extended state observer (AFTESO) · Fault-tolerant control · Robust control · Quadrotor UAV