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
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