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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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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cited_by cdi_FETCH-LOGICAL-c293t-1324abad57417c08b68676cf8d35092582b6c138ac4807c1055c954728ad96233
cites cdi_FETCH-LOGICAL-c293t-1324abad57417c08b68676cf8d35092582b6c138ac4807c1055c954728ad96233
container_end_page 2825
container_issue 5
container_start_page 2815
container_title IEEE transactions on aerospace and electronic systems
container_volume 57
creator Zhou, Sicheng
Guo, Kexin
Yu, Xiang
Guo, Lei
Xie, Lihua
description 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.
doi_str_mv 10.1109/TAES.2021.3068434
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source IEEE Electronic Library (IEL) Journals
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
title Fixed-Time Observer Based Safety Control for a Quadrotor UAV
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