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

2020 ◽  
Vol 2020 ◽  
pp. 1-11 ◽  
Author(s):  
Rui Wang ◽  
Lei Gao ◽  
Chengrui Bai ◽  
Hui Sun
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Method ◽  
Actuator Failures ◽  
Quadrotor Uav ◽  
Model Based ◽  
Aerial Vehicle ◽  
The Stability

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.

scholarly journals Sliding Mode Fault Tolerant Control for Unmanned Aerial Vehicle with Sensor and Actuator Faults

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 643 ◽  
Author(s):  
Juan Tan ◽  
Yonghua Fan ◽  
Pengpeng Yan ◽  
Chun Wang ◽  
Hao Feng
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Health Management ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Process ◽  
Fault Tolerant Control ◽  
Accelerometer Sensor ◽  
Actuator Failures ◽  
Aerial Vehicle ◽  
Gyroscope Sensor

The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.

A finite-time H-infinite adaptive fault-tolerant controller considering time delay for flutter suppression of airfoil flutter

2019 ◽  
Vol 234 (2) ◽  
pp. 293-307
Author(s):  
Gao Ming-Zhou ◽  
Chen Xin-Yi ◽  
Han Rong ◽  
Yao Jian-Yong
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Linear Matrix ◽  
Control Methods ◽  
Actuator Faults ◽  
Control Delay ◽  
Modeling Uncertainties ◽  
The Stability

To suppress airfoil flutter, a lot of control methods have been proposed, such as classical control methods and optimal control methods. However, these methods did not consider the influence of actuator faults and control delay. This paper proposes a new finite-time H∞ adaptive fault-tolerant flutter controller by radial basis function neural network technology and adaptive fault-tolerant control method, taking into account actuator faults, control delay, modeling uncertainties, and external disturbances. The theoretic section of this paper is about airfoil flutter dynamic modeling and adaptive fault-tolerant controller design. Lyapunov function and linear matrix inequality are employed to prove the stability of the proposed control method of this paper. The numeral simulation section further proves the effectiveness and robustness of the proposed control algorithm of this paper.

scholarly journals Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

2012 ◽  
Vol 22 (3) ◽  
pp. 315-342 ◽  
Author(s):  
Samir Zeghlache ◽  
Djamel Saigaa ◽  
Kamel Kara ◽  
Abdelghani Harrag ◽  
Abderrahmen Bouguerra
Keyword(s):  
Fuzzy Logic ◽  
Control Method ◽  
Sliding Mode ◽  
Design Method ◽  
Stability And Convergence ◽  
Sliding Mode Controller ◽  
Quadrotor Helicopter ◽  
Nonlinear Control Method ◽  
The Stability ◽  
Yaw Angle

Abstract In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

Tracking Control Design for Quadrotor Unmanned Aerial Vehicle

2017 ◽  
Vol 67 (3) ◽  
pp. 245 ◽  
Author(s):  
Sudhir Nadda ◽  
A. Swarup
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Strategy ◽  
Tracking Control ◽  
Control Method ◽  
Sliding Mode ◽  
Backstepping Control ◽  
Control Technique ◽  
Quadrotor Uav ◽  
Attitude Tracking ◽  
Aerial Vehicle

The model of a quadrotor unmanned aerial vehicle (UAV) is nonlinear and dynamically unstable. A flight controller design is proposed on the basis of Lyapunov stability theory which guarantees that all the states remain and reach on the sliding surfaces. The control strategy uses sliding mode with a backstepping control to perform the position and attitude tracking control. This proposed controller is simple and effectively enhance the performance of quadrotor UAV. In order to demonstrate the robustness of the proposed control method, White Gaussian Noise and aerodynamic moment disturbances are taken into account. The performance of the nonlinear control method is evaluated by comparing the performance with developed linear quadratic regulator and existing backstepping control technique and proportional-integral-derivative from the literature. The comparative performance results demonstrate the superiority and effectiveness of the proposed control strategy for the quadrotor UAV.

scholarly journals A hybrid fault-tolerant control strategy for four-wheel independent drive vehicles

2021 ◽  
Vol 13 (9) ◽  
pp. 168781402110454
Author(s):  
Ruinan Chen ◽  
Jian Ou
Keyword(s):  
Real Time ◽  
Control Strategy ◽  
High Performance ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
The Stability ◽  
Model Reference Adaptive ◽  
Observation Results

In this paper, a hybrid fault-tolerant control strategy is putted forward to improve the stability of the four-wheel independent drive (4WID) electric vehicle with motor failures. To improve the handling performance of the vehicle with in-wheel motor failures, the faults of in-wheel motors are analyzed and modeled. Then, a model reference adaptive fault observer was designed to observe the faults in real-time. Based on the observation results, there are designed a model predictive control (MPC) based high-performance active fault-tolerant control (AFTC) strategy and a sliding mode control based high-robust passive fault-tolerant control (PFTC) strategy. However, the fault observation results may not always be accurately. For this circumstance, a hybrid fault-tolerant control strategy was designed to make the control method find a balance between optimality and robustness. Finally, a series of simulations are conducted on a hardware-in-loop (HIL) real-time simulator, the simulation results show that the control strategy designed in this paper is effectiveness.

INTEGRATED PID CONTROLLER DESIGN FOR AN UNMANNED AERIAL VEHICLE WITH STATIC STABILITY

2013 ◽  
Vol 54 (3) ◽  
pp. 200-215 ◽  
Author(s):  
R. LI ◽  
Y. J. SHI ◽  
H. L. XU
Keyword(s):  
Fuzzy Control ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Static Stability ◽  
Aerial Vehicle ◽  
Rolling Mode

AbstractThis paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.

A Nonlinear Controller Design Method for Fuel-Injected Automotive Engines

1988 ◽  
Vol 110 (3) ◽  
pp. 313-320 ◽  
Author(s):  
D. Cho ◽  
J. K. Hedrick
Keyword(s):  
Fuel Injection ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Model Errors ◽  
Nonlinear Controller ◽  
Engine Model ◽  
Automotive Engines ◽  
On Line

A nonlinear, “sliding mode” fuel-injection controller is designed based on a physically motivated, mathematical engine model. The designed controller can achieve a commanded air-to-fuel ratio with excellent transient properties, which offers the potential for improving fuel economy, torque transients, and emission levels. The controller is robust to model errors as well as to rapidly changing maneuvers of throttle and spark advance. The sliding mode control method offers a great potential for future engine control problems, since: it results in a relatively simple control structure that requires little on-line computing and no table lookups; it is robust to model errors and disturbances; and it can be easily adapted to a family of engines.

scholarly journals Fault-Tolerant Aircraft Control Based on Self-Constructing Fuzzy Neural Network for Quadcopter

2021 ◽  
Vol 15 (1) ◽  
pp. 109-122
Author(s):  
Dejie Li ◽  
◽  
Pu Yang ◽  
Zhangxi Liu ◽  
Zixin Wang ◽  
...  
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Failure Model ◽  
Aircraft Control ◽  
Actuator Failure ◽  
Fuzzy Neural ◽  
The Stability

This paper proposes a fault-tolerant aircraft control method based on a self-constructed fuzzy neural network for quadcopters with multiple actuator faults. We first introduce the actuator failure model and the model uncertainty. Subsequently, we establish a framework for a self-constructed fuzzy neural network observer with an adaptive rate to obtain the estimated value of the nonlinear term of the module uncertainty. We also design a multivariable sliding mode fault-tolerant controller to ensure the stability of the aircraft under this fault condition. Finally, we conduct experiments using the Pixhawk 4 flight controller installed on the QBall-X4 UAV experimental platform, such that the use of the flight controller’s fault coprocessor and redundant sensor design reduces the crash that occurs during the debugging of the control algorithm. Compared to the existing intelligent fault-tolerant control technology, our proposed method employs fewer fuzzy rules, and the number of these rules can be adaptively adjusted when the system model changes. In the experimental test, the aircraft was still able to fly stably under multi-actuator failure and interference conditions, thereby proving the stability of the proposed controller.

scholarly journals A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

2018 ◽  
Vol 160 ◽  
pp. 06003
Author(s):  
Baofang Wang ◽  
Chen Qian ◽  
Qingwei Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
State Equations ◽  
Characteristic Model ◽  
The Stability ◽  
Error State

A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.

scholarly journals Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures

2018 ◽  
Vol 36 (4) ◽  
pp. 748-753 ◽  
Author(s):  
Xiaojun Xing ◽  
Xiaoran Chen ◽  
Longliang Huang ◽  
Dongsheng Fan
Keyword(s):  
Flight Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Digital Simulation ◽  
Flight Test ◽  
Rotor Blades ◽  
Integral Sliding Mode ◽  
Actuator Failures ◽  
Quadrotor Uav

The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs.

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