In this paper, the sliding mode approach is used to control of a quadrotor UAV (Unmanned Aerial Vehicle) in the presence of external disturbance and actuator fault. Fault detection unit can detect the actuator fault using a state estimator. Then it reconfigures the structure of controller such that some control performance is achieved. The proposed control structure has the advantage of disturbance rejection in the fault-free condition. Moreover it can recover some of control performances when a fault occurs. Different simulations have been carried out to show the performance and effectiveness of the proposed method.


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    Titel :

    Fault tolerant control of a quadrotor UAV using sliding mode control


    Beteiligte:
    Sharifi, Farid (Autor:in) / Mirzaei, Mostafa (Autor:in) / Gordon, Brandon W. (Autor:in) / Zhang, Youmin (Autor:in)


    Erscheinungsdatum :

    2010


    Format / Umfang :

    6 Seiten, 9 Bilder, 18 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Datenträger


    Sprache :

    Englisch




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