Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 14, Issue 5, Pages 750-762Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2019.0596
Keywords
nonlinear control systems; adaptive control; robust control; actuators; autonomous aerial vehicles; Lyapunov methods; motion control; trajectory control; acceleration control; observers; remotely operated vehicles; mobile robots; learning (artificial intelligence); aircraft control; predictive control; closed loop systems; control system synthesis; stability; position control; quadrotor unmanned aerial vehicle; introduced fault-tolerant control scheme; predefined trajectory; actuator faults; fault-tolerant predictive trajectory tracking; air vehicle; acceleration control; MPC; generalised online sequential extreme learning machine; designed control scheme; effective disturbance observer; fault-tolerant model predictive control-based trajectory tracking approach
Ask authors/readers for more resources
A novel fault-tolerant model predictive control (MPC)-based trajectory tracking approach for an aerial vehicle is presented in this study. A generalised online sequential extreme learning machine is introduced first to identify the corresponding coefficients of actuator faults. Subsequently, a robust trajectory tracking control is developed based on MPC, where the system constraints can be effectively considered in the designed control scheme. Trajectory tracking control is achieved by controlling only the acceleration of the aerial robot in the MPC structure. This leads to less computational burden and faster closed-loop dynamics. In addition, an effective disturbance observer is employed, which can satisfactorily capture the effects of unmodelled dynamics and external disturbances on the system dynamics. The stability of the proposed control algorithm is proved based on the Lyapunov theory under realistic assumptions. Finally, the proposed control strategy is applied to a quadrotor unmanned aerial vehicle. Both simulation and experimental results are presented to demonstrate the effectiveness of the introduced fault-tolerant control scheme. The obtained results suggest that the designed control approach is capable of stabilising the attitude and providing acceptable performance in tracking a predefined trajectory in a three-dimensional environment in the simultaneous presence of actuator faults and external disturbances.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available