Adaptive Fault-Tolerant Control of Quadrotor UAV Based on Fuzzy Gain Sliding Mode

doi:10.12068/j.issn.1005-3026.2024.02.008

Abstract

Abstract:

Aiming at the trajectory tracking task of quadrotor UAV under actuator malfunction， an adaptive fault-tolerant control method based on fuzzy gain sliding mode is proposed. Firstly， for the direct control channel， the adaptive mechanism is used to estimate and compensate for actuator faults and the sliding mode controller based on fuzzy gain is used to design the adjustable controller to meet the requirements of robustness. For the indirect drive channel， the sliding mode controller based on fuzzy gain is designed to achieve control of the UAV. This method has good fault-tolerant ability and it can suppress the system chatter and obtain smooth control signals. Finally， the tracking performance of the quadrotor UAV under different controllers is compared and simulated and the results show that the system has good flight performance in the presence of fault and interference.

Key words: quadrotor UAV, actuator failure, fuzzy control, adaptive control, fault-tolerant control

CLC Number:

U 666.1

Zhao-hui REN, Yu-lin LIU, Ze-yu JIANG, Xiang-yu CHEN. Adaptive Fault-Tolerant Control of Quadrotor UAV Based on Fuzzy Gain Sliding Mode[J]. Journal of Northeastern University(Natural Science), 2024, 45(2): 209-216.

Figures/Tables 9

Fig. 1 Ground coordinate system and body coordinate system

Fig. 2 Controller structure

Table 1 Physical parameters of quadrotor UAV

参数	数值	单位
l	0.275	m
m	1.5	kg
g	9.81	m/s²
I_x	3.259×10^-2	kg·m²
I_y	3.259×10^-2	kg·m²
I_z	6.059×10^-2	kg·m²

Table 2 Control parameters

参数	符号	数值
指数趋近律增益	$c 1, c 2, c 3, c 4, c 5, c 6$	$2,2, 2,2, 1,1$
滑模面增益	$k 1, k 2, k 3, k 4, k 5, k 6$	$5,5, 5,5, 2,2$
自适应增益	$γ 1, γ 2, γ 3, γ 4$	$0.2,50,50,50$

Table 2 Control parameters

参数	符号	数值
指数趋近律增益	$c 1, c 2, c 3, c 4, c 5, c 6$	$2,2, 2,2, 1,1$
滑模面增益	$k 1, k 2, k 3, k 4, k 5, k 6$	$5,5, 5,5, 2,2$
自适应增益	$γ 1, γ 2, γ 3, γ 4$	$0.2,50,50,50$

Fig. 3 Comparison of trajectory tracking effect

Fig. 4 Comparison of attitude tracking effect

Fig. 5 Comparison of trajectory tracking effect

Fig. 6 Comparison of attitude tracking effect

Fig. 7 Comparison of control inputs effect

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