Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks

Ngoc Phi Nguyen, Nguyen Xuan Mung, Le Nhu Ngoc Thanh Ha, Tuan Tu Huynh and Sung Kyung Hong
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Ngoc Phi Nguyen: Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea
Nguyen Xuan Mung: Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea
Le Nhu Ngoc Thanh Ha: School of Intelligent Mechatronics Engineering, Sejong University, Seoul 143-747 (05006), Korea
Tuan Tu Huynh: Department of Electrical Engineering, Yuan Ze University, No. 135, Yuandong Road, Zhongli, Taoyuan 320, Taiwan
Sung Kyung Hong: Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea

Mathematics, 2020, vol. 8, issue 9, 1-17

Abstract: This study investigates the design of fault-tolerant control involving adaptive nonsingular fast terminal sliding mode control and neural networks. Unlike those of previous control strategies, the adaptive law of the investigated algorithm is considered in both continuous and discontinuous terms, which means that any disturbances, model uncertainties, and actuator faults can be simultaneously compensated for. First, a quadcopter model is presented under the conditions of disturbances and uncertainties. Second, normal adaptive nonsingular fast terminal sliding mode control is utilized to handle these disturbances. Thereafter, fault-tolerant control based on adaptive nonsingular fast terminal sliding mode control and neural network approximation is presented, which can handle the actuator faults, model uncertainties, and disturbances. For each controller design, the Lyapunov function is applied to validate the robustness of the investigated method. Finally, the effectiveness of the investigated control approach is presented via comparative numerical examples under different fault conditions and uncertainties.

Keywords: sliding mode control; fault tolerant control; quadcopter unmanned aerial vehicles (UAVs); neural network (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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