Fault Tolerant Control and Simulation of quadrotor Based on Adaptive Sliding Mode Control
Authors: 
Guoqing Qiu, Chao WangAuthors Info & Claims
Pages 29 - 33
Abstract
An adaptive integral sliding mode control strategy based on a nonlinear disturbance observer is proposed for fault-tolerant control of a quadrotor UAV under partial actuator failure and external disturbances. First, an adaptive integral sliding-mode controller (SMC) is designed to ensure the tracking performance of the quadrotor UAV in the presence of partial actuator failure. Then, a nonlinear disturbance observer is designed to estimate the external disturbance, and combined with the SMC to compensate for the external disturbance while reducing the discontinuous control gain. Finally, the effectiveness and superiority of the proposed control strategy are verified through comparative numerical simulations of the quadrotor UAV under different fault and external disturbance conditions.
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- Fault Tolerant Control and Simulation of quadrotor Based on Adaptive Sliding Mode Control
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Published In
June 2022
905 pages
ISBN:9781450397179
DOI:10.1145/3548608
Copyright © 2022 ACM.
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Published: 14 October 2022
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ICCIR 2022
ICCIR 2022: 2022 2nd International Conference on Control and Intelligent Robot
June 24 - 26, 2022
Nanjing, China
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Overall Acceptance Rate 131 of 239 submissions, 55%
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