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U-Model-Based Sliding Mode Controller Design for Quadrotor UAV Control Systems

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  • Rui Wang
  • Lei Gao
  • Chengrui Bai
  • Hui Sun

Abstract

This paper proposes a U-model-based fault-tolerant controller design method in order to ensure the unmanned aerial vehicle (UAV) flight performance when subject to the actuator failures. Depending on the decoupled quadrotor model, this paper presents a sliding mode control method based on U-model in detail and realizes fault-tolerant control for the quadrotor UAV with the stability theory and simulation experiment verifications. The results show that the new controller designed by using the U-model method can simplify the controller design process which has good fault-tolerant characteristics when actuator faults occur compared with the traditional method.

Suggested Citation

  • Rui Wang & Lei Gao & Chengrui Bai & Hui Sun, 2020. "U-Model-Based Sliding Mode Controller Design for Quadrotor UAV Control Systems," Mathematical Problems in Engineering, Hindawi, vol. 2020, pages 1-11, April.
    • Handle: RePEc:hin:jnlmpe:4343214
    DOI: 10.1155/2020/4343214
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