Adaptive neural fault-tolerant control of a quadrotor UAV via fast terminal sliding mode

Benke Gao; Yan-Jun Liu; Lei Liu

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Adaptive neural fault-tolerant control of a quadrotor UAV via fast terminal sliding mode

机译：Adaptive neural fault-tolerant control of a quadrotor UAV via fast terminal sliding mode

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摘要

The external disturbance, model uncertainty and actuator faults can affect performance even the safety of flight. To tackle such problems, an adaptive fault-tolerant control method is presented integrated with fast terminal sliding mode control (FTSMC) technology and neural network (NN) for the attitude system of a quadrotor unmanned aerial vehicle, where the NN is employed to approximate the uncertain terms in the system. First, for the loss of effectiveness, an adaptive law is developed to estimate the unknown fault coefficient. Then considering the unknown upper bound of the total disturbance, an adaptive law is designed to predict the unknown upper bound. Furthermore, considering the transient response, a FTSMC scheme is developed for the attitude system, which has better convergence rate than conventional terminal sliding mode control. Finally, the contrast test is performed to verify the effectiveness and superiority of the proposed control method.

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《Aerospace science and technology》 |2022年第10期|107818.1-107818.12|共12页
作者
Benke Gao; Yan-Jun Liu; Lei Liu;
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作者单位

School of Electrical Engineering, Liaoning University of Technology, Jinzhou, Liaoning 121001 China;

College of Science, Liaoning University of Technology, Jinzhou, Liaoning, 121001 China;

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收录信息美国《科学引文索引》(SCI);美国《工程索引》(EI);
原文格式 PDF
正文语种英语
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关键词
The quadrotor unmanned aerial vehicle; Adaptive sliding mode control; Fault-tolerance; Neural network;

Adaptive neural fault-tolerant control of a quadrotor UAV via fast terminal sliding mode

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