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

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...

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Bibliographic Details
Published in:Mathematics (Basel) 2022-08, Vol.10 (16), p.3009
Main Authors: Najafi, Amin, Vu, Mai The, Mobayen, Saleh, Asad, Jihad H., Fekih, Afef
Format: Article
Language:English
Subjects:
actuator
Actuators
Adaptive control
Closed loop systems
Control
Control theory
Controllers
Convergence
Design
Design and construction
Disturbances
Drone aircraft
Equipment and supplies
fast terminal sliding mode
Fault tolerance
Fault tolerance (Computers)
fault-tolerant control
Faults
Food science
Hyperbolic functions
quadrotor UAV
Sliding mode control
Unmanned aerial vehicles
Unmanned helicopters
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Summary: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.
ISSN:2227-7390
2227-7390
DOI:10.3390/math10163009