Fault-Tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach

Ngoc Phi Nguyen and Sung Kyung Hong
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Ngoc Phi Nguyen: Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea
Sung Kyung Hong: Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea

Energies, 2018, vol. 12, issue 1, 1-15

Abstract: In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actuators. A normal adaptive sliding mode control (NASMC) approach is proposed as a baseline controller to handle the chattering problem and system uncertainties, which does not require information of the upper bound. To improve the performance of the NASMC scheme, radial basis function neural networks are combined with an adaptive scheme to make a quick compensation in presence of system uncertainties and actuator faults. The Lyapunov theory is applied to verify the stability of the proposed methods. The effectiveness of modified ASMC algorithm is compared with that of NASMC using numerical examples under different faulty conditions.

Keywords: fault diagnosis; quadcopter UAV; fault tolerant control; radial basic function; adaptive sliding mode control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2018
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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