Fixed-Time Observer Based Safety Control for a Quadrotor UAV

This article presents a fixed-time observer-based safety control strategy for quadrotor unmanned aerial vehicles (UAVs) against multiple actuator faults and unknown disturbances. The fixed-time sliding mode observer is designed to estimate the state residual and the unknown actuator fault. Unlike mo...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2021-10, Vol.57 (5), p.2815-2825
Main Authors: Zhou, Sicheng, Guo, Kexin, Yu, Xiang, Guo, Lei, Xie, Lihua
Format: Article
Language:English
Subjects:
Actuator faults
Actuators
Brushless motors
Disturbances
Estimation error
fixed-time observer
Observers
quadrotor unmanned aerial vehicle (UAV)
Retrofitting
Safety
safety control
Sliding mode control
Transient analysis
transient estimation error
Unmanned aerial vehicles
Unmanned helicopters
Upper bounds
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Description
Summary:This article presents a fixed-time observer-based safety control strategy for quadrotor unmanned aerial vehicles (UAVs) against multiple actuator faults and unknown disturbances. The fixed-time sliding mode observer is designed to estimate the state residual and the unknown actuator fault. Unlike most of the existing safety control strategies, the estimation time of the fault parameters is independent of initial condition, which can be strictly ensured within a fixed upper bound. Besides, the transient estimation error is regarded as a disturbance. In this article, a retrofit control mechanism with integration of the fixed-time estimator and an integral sliding mode controller is devised against multiple actuator faults and disturbances. Finally, both simulation and experimental tests demonstrate the effectiveness of the proposed UAV safety control.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2021.3068434