U-Model-Based Sliding Mode Controller Design for Quadrotor UAV Control Systems

Rui Wang, Lei Gao, Chengrui Bai and Hui Sun

Mathematical Problems in Engineering, 2020, vol. 2020, 1-11

Abstract:

This paper proposes a U-model-based fault-tolerant controller design method in order to ensure the unmanned aerial vehicle (UAV) flight performance when subject to the actuator failures. Depending on the decoupled quadrotor model, this paper presents a sliding mode control method based on U-model in detail and realizes fault-tolerant control for the quadrotor UAV with the stability theory and simulation experiment verifications. The results show that the new controller designed by using the U-model method can simplify the controller design process which has good fault-tolerant characteristics when actuator faults occur compared with the traditional method.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:4343214

DOI: 10.1155/2020/4343214

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