scholarly journals Sliding Mode Fault Tolerant Control for a Quadrotor with Varying Load and Actuator Fault

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 323
Author(s):  
Pu Yang ◽  
Zixin Wang ◽  
Zhiqing Zhang ◽  
Xukai Hu
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Terminal Sliding Mode ◽  
Performance Control ◽  
Prescribed Performance ◽  
Prescribed Performance Control ◽  
Adaptive Laws ◽  
Estimation Scheme

In this paper, an adaptive sliding mode fault-tolerant control scheme based on prescribed performance control and neural networks is developed for an Unmanned Aerial Vehicle (UAV) quadrotor carrying a load to deal with actuator faults. First, a nonsingular fast terminal sliding mode (NFTSM) control strategy is presented. In virtue of the proposed strategy, fast convergence and high robustness can be guaranteed without stimulating chattering. Secondly, to obtain correct fault magnitudes and compensate the failures actively, a radial basis function neural network-based fault estimation scheme is proposed. By combining the proposed fault estimation strategy and the NFTSM controller, an active fault-tolerant control algorithm is established. Then, the uncertainties caused by load variation are explicitly considered and compensated by the presented adaptive laws. Moreover, by synthesizing the proposed sliding mode control and prescribed performance control (PPC), an output error transformation is defined to deal with state constraints and provide better tracking performance. From the Lyapunov stability analysis, the overall system is proven to be uniformly asymptotically stable. Finally, numerical simulation based on a quadrotor helicopter is carried out to validate the effectiveness and superiority of the proposed algorithm.

Guaranteeing prescribed performance fast tracking control of air-breathing hypersonic vehicles

2020 ◽  
Vol 234 (20) ◽  
pp. 3967-3981
Author(s):  
Zian Cheng ◽  
Fuyang Chen ◽  
Kaiyu Hu
Keyword(s):  
Sliding Mode ◽  
Hypersonic Vehicles ◽  
Tracking Errors ◽  
Terminal Sliding Mode ◽  
Air Breathing ◽  
Performance Control ◽  
Prescribed Performance ◽  
Fast Tracking ◽  
Prescribed Performance Control ◽  
Fast Terminal Sliding Mode

This paper investigates a fast-tracking controller with prescribed performance for flexible air-breathing hypersonic vehicles subject to uncertain parameters, external disturbances, actuator faults and backlash non-linearity. For the velocity and altitude dynamics, a prescribed performance control scheme is respectively utilized to provide preselected bounds on the transient and steady characteristics of tracking errors, also it can effectively relieve the constraint of scramjet on the angle of attack. A sliding mode exact observer is introduced to estimate the lumped disturbance, meanwhile the analytic differential computation on virtual controllers is avoided in the back-stepping design for altitude tracking. Based on prescribed performance control and sliding mode exact observer, the non-singular fast terminal sliding mode technology is introduced to design a control law, which is capable of ensuring both velocity and altitude tracking errors converge into the prescribed sets in finite-time. Simulations on the high-fidelity air-breathing hypersonic vehicle mode are implemented to highlight the effectiveness of the developed controller.

scholarly journals Fault-tolerant control for a class of n-order systems based on fast terminal sliding mode and extended state observer

2021 ◽  
pp. 002029402110286
Author(s):  
Pu Yang ◽  
Peng Liu ◽  
ChenWan Wen ◽  
Huilin Geng
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Singular Control ◽  
Fault Tolerant Control ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Terminal Sliding Mode ◽  
Fast Terminal Sliding Mode ◽  
Terminal Sliding Surface

This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.

Active fault-tolerant control for vertical tail damaged aircraft with dissimilar redundant actuation system using integral sliding mode control

2018 ◽  
Vol 233 (7) ◽  
pp. 2361-2378 ◽  
Author(s):  
Salman Ijaz ◽  
Mirza T Hamayun ◽  
Lin Yan ◽  
Cun Shi
Keyword(s):  
Actuator Saturation ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Fault Estimation ◽  
Redundant Actuation ◽  
Severe Damage ◽  
Integral Sliding Mode ◽  
Actuation System ◽  
Electrohydraulic Actuator

The research about the dissimilar redundant actuation system has indicated the potential fault-tolerant capability in modern aircraft. This paper proposed a new design methodology to achieve fault-tolerant control of an aircraft equipped with dissimilar actuators and is suffered from vertical tail damage. The proposed design is based on the concept of online control allocation to redistribute the control signals among healthy actuators and integral sliding mode controller is designed to achieve the closed-loop stability in the presence of both component and actuator faults. To cope with severe damage condition, the aircraft is equipped with dissimilar actuators (hydraulic and electrohydraulic actuators). In this paper, the performance degradation due to slower dynamics of electrohydraulic actuator is taken in account. Therefore, the feed-forward compensator is designed for electrohydraulic actuator based on fractional-order control strategy. In case of failure of hydraulic actuator subject to severe damage of vertical tail, an active switching mechanism is developed based on the information of fault estimation unit. Additionally, a severe type of actuator failure so-called actuator saturation or actuator lock in place is also taken into account in this work. The proposed strategy is compared with the existing control strategies in the literature. Simulation results indicate the dominant performance of the proposed scheme. Moreover, the proposed controller is found robust with a certain level of mismatch between the actuator effectiveness level and its estimate.

Adaptive fault-tolerant control for active suspension systems based on the terminal sliding mode approach

2019 ◽  
Vol 234 (2) ◽  
pp. 501-511
Author(s):  
Amirhossein Kazemipour ◽  
Alireza B Novinzadeh
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Active Suspension ◽  
Suspension System ◽  
Terminal Sliding Mode ◽  
Car Suspension ◽  
Suspension Model

In this paper, a control system is designed for a vehicle active suspension system. In particular, a novel terminal sliding-mode-based fault-tolerant control strategy is presented for the control problem of a nonlinear quarter-car suspension model in the presence of model uncertainties, unknown external disturbances, and actuator failures. The adaptation algorithms are introduced to obviate the need for prior information of the bounds of faults in actuators and uncertainties in the model of the active suspension system. The finite-time convergence of the closed-loop system trajectories is proved by Lyapunov's stability theorem under the suggested control method. Finally, detailed simulations are presented to demonstrate the efficacy and implementation of the developed control strategy.

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