A fault tolerant control approach is proposed in this paper for quadrotor Unmanned Aerial Vehicle (UAV) subject to time varying disturbances and actuator faults. The approach is based on a Super-Twisting (STW) control algorithm and a Higher Order Sliding Mode Observer (HOSMO). The HOSMO generates the exact estimates of the unmeasured states and time varying disturbances without any filtration that cause time delays and errors. A continuous control law that eliminates chattering is derived using the STW controller. Asymptotic stability of the control approach is analyzed using the Lyapunov theory. The controller is implemented on a quadrotor and is tested under nominal conditions, time varying disturbances and faulty scenarios. The results confirm the robustness and chattering free tracking performance of the proposed approach.
A fault tolerant control approach for a quadrotor UAV subject to time varying disturbances and actuator faults
01.08.2017
1031103 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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