Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs

Amin Najafi, Mai The Vu, Saleh Mobayen (), Jihad H. Asad and Afef Fekih
Additional contact information
Amin Najafi: Department of Electrical Engineering, University of Zanjan, Zanjan 45195-313, Iran
Mai The Vu: School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
Saleh Mobayen: Future Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, Taiwan
Jihad H. Asad: Department of Physics, Faculty of Applied sciences, Palestine Technical University, Tulkarm P.O. Box 7, Palestine
Afef Fekih: Department of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA 70504, USA

Mathematics, 2022, vol. 10, issue 16, 1-22

Abstract: This paper proposes an adaptive barrier fast terminal sliding mode control (ABFTSMC) approach for quadrotor unmanned aerial vehicles (UAV). Its main objectives are to mitigate the external disturbances, parametric uncertainties, and actuator faults. An adaptive barrier function is considered in the design to ensure the finite-time convergence of the output variables to a predefined locality of zero, independent of the disturbance bounds. A fast terminal sliding mode control (FTSMC) approach is designed to speed up the convergence rate in both reaching and sliding phases. The design considers hyperbolic tangent functions in the adaptive control law to drastically reduce the chattering effect, typically associated with the standard SMC. The performance of the proposed approach was assessed using a quadrotor UAV subject to external disturbances and sudden actuator faults. The obtained results show that the trajectory and the sliding surface converge to the origin in a finite time, without being affected by the high disturbance and actuator faults. In this method, due to the substitution of the discontinuous function by the hyperbolic tangent function, the chattering effect has also been highly reduced.

Keywords: quadrotor UAV; fast terminal sliding mode; fault-tolerant control; actuator (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (3)

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