In this study, the difficulty of developing a sliding mode control method based on fault tolerant against actuator failures for a quadrotor UAV is presented. The system of quadrotors is divided into two subsystems: the position subsystem and the attitude subsystem. First, the actuator fault model is determined, a sliding mode nonlinear controller is analyzed with the objective of designing a fault-tolerant law, the concept is to introduce faults to the system during operation and to control the stability of the quadrotor. Then, the system’s stability is ensured using the Lyapunov theory. The simulation results show the efficacy of the sliding mode control approach proposed.
Sliding Mode Fault Tolerant Control Against Actuator Failures for UAVs
Studies in Systems, Decision and Control
2023-11-07
11 pages
Article/Chapter (Book)
Electronic Resource
English
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