Adaptive fault tolerant attitude tracking control for miniature rotorcrafts under actuator saturation

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

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Adaptive fault-tolerant attitude tracking control for spacecraft with time-varying inertia uncertainties

Chinese Journal of Aeronautics ◽

10.1016/j.cja.2018.12.015 ◽

2019 ◽

Vol 32 (3) ◽

pp. 674-687 ◽

Cited By ~ 8

Author(s):

Qinglei HU ◽

Li XIAO ◽

Chenliang WANG

Keyword(s):

Tracking Control ◽

Fault Tolerant ◽

Time Varying ◽

Attitude Tracking ◽

Attitude Tracking Control

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Distributed Finite-Time Coordinated Attitude Tracking Control for Multiple Spacecraft with Actuator Saturation

Journal of Circuits System and Computers ◽

10.1142/s0218126620502126 ◽

2020 ◽

Vol 29 (13) ◽

pp. 2050212

Author(s):

Zhi Gao ◽

Zhihao Zhu ◽

Yu Guo

Keyword(s):

Finite Time ◽

Tracking Control ◽

Actuator Saturation ◽

Sliding Mode ◽

Terminal Sliding Mode ◽

Mode Function ◽

Nonsingular Terminal Sliding Mode ◽

Attitude Tracking ◽

Multiple Spacecraft ◽

Attitude Tracking Control

For multi-spacecraft with actuator saturation, inertia uncertainties and external disturbances, a distributed finite-time coordinated attitude tracking control problem for the spacecraft with the communication topology containing fewer information paths is investigated. Aiming at reducing the communication path, a class of distributed finite-time state observers is designed. To speed up the convergence rate of the multiple spacecraft system, a fast nonsingular terminal sliding mode function is proposed. Moreover, an adaptive control term is proposed to suppress the impact of the external state-dependent disturbances and unknown time-varying inertia uncertainties. Further considering the actuator saturation owing to its physical limitations, a saturation function is designed. With the distributed finite-time observers, the fast nonsingular terminal sliding mode function, the adaptive update law and the saturation function, a distributed finite-time coordinated attitude tracking saturation controller is designed. Using the proposed controller, the follower can synchronize with the common leader with time-varying trajectory in finite time. Simulation results demonstrate the effectiveness of the designed controller.

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