This paper has developed a new attitude fault-tolerant control (FTC) method for quadrotor UAVs with damaged propellers. A fixed-time extended state observer (FTESO) is proposed to estimate the equivalent disturbances resulted from propeller damage. Using the estimated states, a fixed-time FTC controller is investigated for attitude system by the terminal sliding mode control. Specifically, the prescribed performance function is used to improve the faulty system performance. Combining Lyapunov function, the designed FTC scheme ensures the fixed-time stability of the attitudes. Some simulation results are given to illustrate the effectiveness of FTC scheme.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fixed-Time Actuator Fault-Tolerant Control with Prescribed Performance for Quadrotor UAVs


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Deng, Yimin (Herausgeber:in) / Liu, Hao (Autor:in) / Guo, Yuying (Autor:in)

    Kongress:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Erscheinungsdatum :

    02.03.2025


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Fault Tolerant Control Design for Actuator Loss of Effectiveness in Quadrotor Uavs

    Guiatni, Mohamed / Saidani, Habib / Bouzid, Yasser | IEEE | 2019


    Fault-Tolerant Mapping and Localization for Quadrotor UAVs

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | AIAA | 2021