Fault tolerant control of a quadrotor UAV using sliding mode control
Fault tolerant control of a quadrotor UAV using sliding mode control
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DOI：
10.1109/systol.2010.5675979
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
F. Sharifi;M. Mirzaei;B. Gordon;Youmin Zhang
中科院分区：
文献类型：
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作者：
F. Sharifi;M. Mirzaei;B. Gordon;Youmin Zhang
针对四旋翼无人机在存在外部干扰和执行器故障的情况下，采用滑模变结构控制方法进行控制。故障检测单元利用状态估计器检测执行器故障。然后重新配置控制器的结构，以达到一定的控制性能。所提出的控制结构具有在无故障条件下的干扰抑制的优点。此外，它可以恢复一些控制性能时，发生故障。通过不同的仿真实验验证了该方法的性能和有效性。
In this paper, the sliding mode approach is used to control of a quadrotor unmanned aerial vehicle (UAV) in the presence of external disturbance and actuator fault. Fault detection unit can detect the actuator fault using a state estimator. Then it reconfigures the structure of controller such that some control performance is achieved. The proposed control structure has the advantage of disturbance rejection in the fault-free condition. Moreover it can recover some of control performances when a fault occurs. Different simulations have been carried out to show the performance and effectiveness of the proposed method.