A novel sliding mode fault-tolerant control for quadrotors based on non-singular fast terminal super-twisting algorithm

被引：0
|
作者：
Xie, Zuoyu [1 ,2 ]
Zhao, Jing [1 ,2 ]
Li, Xinhuang [1 ,2 ]
Yang, Zhengwei [1 ,2 ]
Huang, Haiyun [1 ,2 ]
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing, Peoples R China
[2] Nanjing Univ Posts & Telecommun, Coll Artificial Intelligence, Nanjing, Peoples R China
来源：
2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年
关键词：
Quadrotor; Super-twisting; Sliding mode Control; Adaptive Control; Trajectory tracking;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presented an adaptive fault-tolerant control(FTC) strategy based on super-twisting algorithm for quadrotor with actuator faults and external disturbances. Firstly, the quadrotor fault model is introduced. Then an adaptive fault estimation scheme is proposed for time-varying actuator faults. Furthermore, based on the idea of inner and outer loop, controllers of position subsystem and attitude subsystem are designed respectively. Finally, the effectiveness of proposed method is verified.
引用
收藏
页码：3942 / 3947
页数：6
相关论文
共 50 条
  • [21] Quantized super-twisting algorithm based sliding mode control
    Yan, Yan
    Yu, Shuanghe
    Yu, Xinghuo
    AUTOMATICA, 2019, 105 : 43 - 48
  • [22] Research of Multi-Slide-Mode Non-singular Terminal Sliding Mode Guidance Law Based on Super Twisting Algorithm
    Chen, Wenxue
    Dong, Shiyin
    Fan, Yunfeng
    Liang, Xinru
    Gao, Changsheng
    2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 3280 - 3286
  • [23] A Finite-Time Fault-Tolerant Control Using Non-Singular Fast Terminal Sliding Mode Control and Third-Order Sliding Mode Observer for Robotic Manipulators
    Nguyen, Van-Cuong
    Vo, Anh-Tuan
    Kang, Hee-Jun
    IEEE ACCESS, 2021, 9 : 31225 - 31235
  • [24] Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode
    Wu, Hao
    Wang, Shuting
    Xie, Yuanlong
    Li, Hu
    FRACTAL AND FRACTIONAL, 2024, 8 (10)
  • [25] Finite-Time Flight Control of Uncertain Quadrotor UAV based on Modified Non-Singular Fast Terminal Super-Twisting Control
    Alqaisi, Walid
    Kali, Yassine
    Lucia, Walter
    2020 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA), 2020, : 37 - 42
  • [26] Improved Super-Twisting Non-Singular Fast Terminal Sliding Mode Control of Interior Permanent Magnet Synchronous Motor Considering Time-Varying Disturbance of the System
    Li, Xiangfei
    Liu, Junqin
    Yin, Yang
    Zhao, Kaihui
    IEEE ACCESS, 2023, 11 : 17485 - 17496
  • [27] Passive Fault-Tolerant Control of an Octorotor using Super-Twisting Algorithm: Theory and Experiments
    Saied, Majd
    Lussier, Benjamin
    Fantoni, Isabelle
    Shraim, Hassan
    Francis, Clovis
    2016 3RD CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL), 2016, : 361 - 366
  • [28] Non-singular fast terminal -sliding mode control of PMSM with novel approach law
    Peng, Huang Yuan
    Xiao Shen-Ping
    2023 35TH CHINESE CONTROL AND DECISION CONFERENCE, CCDC, 2023, : 2642 - 2647
  • [29] Continuous Nonsingular Fast Terminal Sliding Mode Control of Cable-Driven Manipulators With Super-Twisting Algorithm
    Wang, Yaoyao
    Yan, Fei
    Chen, Jiawang
    Chen, Bai
    IEEE ACCESS, 2018, 6 : 49626 - 49636
  • [30] Adaptive Super-twisting Sliding Mode Fault Tolerant Control for MIMO Uncertain Aircraft System
    Lu, Binwen
    Ma, Jianjun
    Zheng, Zhiqiang
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 7087 - 7092
12345