Implementation of Sliding Mode Fault Tolerant Control on the IRIS + Quadrotor

Implementation of Sliding Mode Fault Tolerant Control on the IRIS + Quadrotor
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DOI：
10.1109/ccta.2018.8511344
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发表时间：
2018-08
期刊：
2018 IEEE Conference on Control Technology and Applications (CCTA)
影响因子：
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通讯作者：
A. Khattab;H. Alwi;C. Edwards
A. Khattab;H. Alwi;C. Edwards
中科院分区：
其他
文献类型：
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作者：
A. Khattab;H. Alwi;C. Edwards

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针对多旋翼无人机，提出了一种结合控制分配的滑模控制方案.控制器的设计适用于无故障和故障条件。该实现是使用Simulink Pixhawk支持包完成的，用于快速自动构建和部署控制算法。设计的控制器进行了测试的四旋翼的目的是容忍电机故障。实验结果表明了该方案的鲁棒性。
This paper implements a sliding mode control scheme combined with control allocation on a multirotor UAV. The controllers were designed to be applicable to both fault-free and faulty conditions. The implementation was done using the Simulink Pixhawk support package for rapid and automatic build-and-deploy control algorithms. The designed controller was tested on a quadrotor for the purpose of tolerating motor faults. The results show the robustness of the proposed scheme.