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Nonsingular terminal sliding mode control for a quadrotor UAV with a total rotor failure

机译：具有整体转子故障的四旋翼无人机的非奇异终端滑模控制

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Based on nonsingular terminal sliding mode control (NTSMC), a flight controller is proposed in this paper for a quadrotor with a total rotor failure. The proposed method is a finite-time position and attitude tracking approach with strong robustness. At first, the fault-tolerant controller for the quadrotor with a total rotor failure is derived, and the model uncertainties and wind disturbances are considered. The dynamic model of the quadrotor is introduced and divided into two control loops: the inner control loop and the outer control loop. Based on the division of the control system, the NTSMC based inner controller is designed which makes the attitude dynamics converge to the desired attitude in finite-time. And the NTSMC based outer controller is derived which generates the desired attitude for the inner controller and makes the dynamics converge to the desired position in finite-time. The stability of the closed-loop system is analyzed by Lyapunov theory and the stability conditions are obtained. Then, in order to improve the practicability of the control algorithm, a flight controller for a fault-free quadrotor is proposed which has a similar structure compared with the fault-tolerant one. A fault detection and isolation method is applied to detect the fault and reconfigure the flight controllers. Moreover, two estimation methods for external disturbance and model uncertainties are applied to enhance the robustness of the proposed flight controller. The estimated wind disturbances results are introduced into the outer controller to compensate for the effect of disturbance while the model uncertainties estimator is applied in the inner control loop. Finally, numerical simulation results show the great performance of the proposed flight control method. (C) 2020 Elsevier Masson SAS. All rights reserved.
机译：本文基于非奇异终端滑模控制（NTSMC），提出了一种具有总转子故障的四旋翼飞行控制器。该方法是一种具有较强鲁棒性的时限位置和姿态跟踪方法。首先，推导了具有总转子故障的四转子的容错控制器，并考虑了模型的不确定性和风扰动。介绍了四旋翼的动力学模型，并将其分为两个控制回路：内部控制回路和外部控制回路。基于控制系统的划分，设计了基于NTSMC的内部控制器，该控制器使姿态动力学在有限时间内收敛到所需姿态。然后导出基于NTSMC的外部控制器，该控制器为内部控制器生成所需的姿态，并使动力学在有限的时间内收敛到所需的位置。利用李雅普诺夫理论分析了闭环系统的稳定性，并获得了稳定性条件。然后，为了提高控制算法的实用性，提出了一种无故障四旋翼飞行控制器，其结构与容错相类似。应用故障检测和隔离方法来检测故障并重新配置飞行控制器。此外，应用了两种外部干扰估计方法和模型不确定性来提高所提出的飞行控制器的鲁棒性。估计的风干扰结果被引入到外部控制器中，以补偿干扰的影响，同时将模型不确定性估计器应用于内部控制回路。最后，数值仿真结果表明了所提出的飞行控制方法的优越性能。 （C）2020年Elsevier Masson SAS。版权所有。

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