Journal
AEROSPACE SCIENCE AND TECHNOLOGY
Volume 104, Issue -, Pages -Publisher
ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
DOI: 10.1016/j.ast.2020.105968
Keywords
Quadrotor attitude control; Adaptive finite-time extended state observer (AFTESO); Continuous fast nonsingular terminal sliding mode control (CFNTSMC); Fault tolerant control; Lumped disturbances
Categories
Funding
- National Natural Science Foundation of China [61903350]
Ask authors/readers for more resources
This paper investigates a nonlinear robust fault tolerant control method for rejecting wind disturbances and accommodating actuator faults in quadrotor attitude system. Actuator faults are modeled as a sudden loss of actuator effectiveness (LAE) in the rotor thrust. First, the lumped disturbances, including wind disturbances and LAE actuator faults, are estimated by a novel adaptive finite-time extended state observer (AFTESO). Additionally, a rigorous analysis for finite-time convergence of estimation errors is provided. Next, based on the estimated information from AFTESO, a continuous fast nonsingular terminal sliding mode controller (CFNTSMC) is proposed to achieve high-precision tracking and finite-time convergence. CFNTSMC provides faster convergence performance in both reaching and sliding phases. The proposed control scheme combines ESO-based and NTSM-based anti-disturbance mechanisms, which retains the advantages of the two control schemes and limits their drawbacks, thus achieving promising features, as finite-time convergence, fault tolerance and chattering suppression. The finite-time stability of the closed-loop system is supported by Lyapunov theory. Finally, extensive numerical simulations are carried out to demonstrate the effectiveness of the proposed method in different working regimes. (C) 2020 Elsevier Masson SAS. All rights reserved.
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