access icon free Adaptive non-linear integral sliding mode fault-tolerant control allocation scheme for octorotor UAV system

© The Institution of Engineering and Technology
Received 15/04/2020, Accepted 23/11/2020, Revised 28/10/2020, Published 25/11/2020

This study proposes a new active fault-tolerant control (FTC) and fault estimation scheme for a non-linear octorotor system. The proposed method utilises the idea of an online control allocation (CA) scheme to fully engage the rotors redundancy based on the information from the fault estimation unit. The nominal performance is first achieved using non-linear dynamic inversion (NDI) technique and then to incorporate the robustness, an adaptive non-linear sliding mode control is united with a baseline NDI controller. The proposed method is used to attain the desired altitude and attitude tracking control of an octorotor system. Furthermore, to control the un-actuated states (called internal dynamics) of octorotor system, a separate integral sliding mode-based NDI controller is designed that provides the translational axes control by generating the desired roll and pitch commands. Simulations on the non-linear model of octorotor system validate the dominant performance of the proposed scheme compared to the existing methods in the literature.

Inspec keywords: adaptive control; actuators; fault tolerant control; variable structure systems; nonlinear control systems; control system synthesis; aircraft control; autonomous aerial vehicles; stability; attitude control; uncertain systems

Other keywords: separate integral sliding mode-based NDI controller; desired altitude; baseline NDI controller; mode fault-tolerant control allocation scheme; fault estimation scheme; translational axes control; active fault-tolerant control; fault estimation unit; adaptive nonlinear integral; online control allocation scheme; nonlinear dynamic inversion technique; nominal system stability; fault estimation error; attitude tracking control; nonlinear octorotor system; nonlinear model; adaptive integral sliding mode controller; octorotor UAV system

Subjects: Spatial variables control; Nonlinear control systems; Aerospace control; Self-adjusting control systems; Stability in control theory; Mobile robots; Multivariable control systems; Control system analysis and synthesis methods

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