Hu, Xinyue (Northwestern Polytechnical University), Fu, Yifang (Northwestern Polytechnical University), Huang, Yulu (Northwestern Polytechnical University), Wang, Ban (Northwestern Polytechnical University), Li, Ni (Northwestern Polytechnical University), Zhang, Youmin (Concordia University)

Adaptive Fault-Tolerant Trajectory Tracking and Attitude Control of a Quadrotor UAV Subject to Actuator Faults

Scheduled for presentation during the Regular Session "Multirotor Design and Control II" (FrB5), Friday, June 9, 2023, 15:20−15:40, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

In this paper, an adaptive sliding mode control strategy is proposed to achieve desired trajectory tracking and attitude control for a quadrotor unmanned aerial vehicle in the presence of actuator faults. Firstly, the nominal controller is constructed by using an integral sliding mode control method with a cascaded control structure. Then, to compensate for the adverse effect of actuator faults, an adaptive sliding mode control strategy is presented to maintain desired trajectory and attitude tracking performance. Finally, a series of simulation tests are carried out to verify the capabilities and effectiveness of the adaptive fault-tolerant control method. The comparative simulation results validate the benefits and effectiveness of the proposed adaptive fault-tolerant control strategy.