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Fault-Tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach

Author

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  • Ngoc Phi Nguyen

    (Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea)

  • Sung Kyung Hong

    (Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea)

Abstract

In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actuators. A normal adaptive sliding mode control (NASMC) approach is proposed as a baseline controller to handle the chattering problem and system uncertainties, which does not require information of the upper bound. To improve the performance of the NASMC scheme, radial basis function neural networks are combined with an adaptive scheme to make a quick compensation in presence of system uncertainties and actuator faults. The Lyapunov theory is applied to verify the stability of the proposed methods. The effectiveness of modified ASMC algorithm is compared with that of NASMC using numerical examples under different faulty conditions.

Suggested Citation

  • Ngoc Phi Nguyen & Sung Kyung Hong, 2018. "Fault-Tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach," Energies, MDPI, vol. 12(1), pages 1-15, December.
    • Handle: RePEc:gam:jeners:v:12:y:2018:i:1:p:95-:d:193762
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    References listed on IDEAS

    as
    1. Zhenhua Wang & Yi Shen & Xiaolei Zhang, 2014. "Actuator fault estimation for a class of nonlinear descriptor systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(3), pages 487-496.
    2. Qinglei Hu & Bing Xiao, 2013. "Adaptive fault tolerant control using integral sliding mode strategy with application to flexible spacecraft," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(12), pages 2273-2286.
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    Citations

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    Cited by:

    1. Ngoc Phi Nguyen & Nguyen Xuan Mung & Le Nhu Ngoc Thanh Ha & Tuan Tu Huynh & Sung Kyung Hong, 2020. "Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks," Mathematics, MDPI, vol. 8(9), pages 1-17, September.
    2. Mohamed Elhesasy & Tarek N. Dief & Mohammed Atallah & Mohamed Okasha & Mohamed M. Kamra & Shigeo Yoshida & Mostafa A. Rushdi, 2023. "Non-Linear Model Predictive Control Using CasADi Package for Trajectory Tracking of Quadrotor," Energies, MDPI, vol. 16(5), pages 1-17, February.
    3. Ngoc Phi Nguyen & Sung Kyung Hong, 2019. "Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator," Energies, MDPI, vol. 12(6), pages 1-22, March.

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