In this paper, an adaptive sliding mode control strategy is proposed to achieve desired trajectory tracking and attitude control for a quadrotor unmanned aerial vehicle in the presence of actuator faults. Firstly, the nominal controller is constructed by using an integral sliding mode control method with a cascaded control structure. Then, to compensate for the adverse effect of actuator faults, an adaptive sliding mode control strategy is presented to maintain desired trajectory and attitude tracking performance. Finally, a series of simulation tests are carried out to verify the capabilities and effectiveness of the adaptive fault-tolerant control method. The comparative simulation results validate the benefits and effectiveness of the proposed adaptive fault-tolerant control strategy.


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    Titel :

    Adaptive fault-tolerant trajectory tracking and attitude control of a quadrotor UAV subject to actuator faults


    Beteiligte:
    Hu, Xinyue (Autor:in) / Fu, Yifang (Autor:in) / Huang, Yulu (Autor:in) / Wang, Ban (Autor:in) / Li, Ni (Autor:in) / Zhang, Youmin (Autor:in)


    Erscheinungsdatum :

    06.06.2023


    Format / Umfang :

    1796678 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch