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.


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    Title :

    Adaptive fault-tolerant trajectory tracking and attitude control of a quadrotor UAV subject to actuator faults


    Contributors:
    Hu, Xinyue (author) / Fu, Yifang (author) / Huang, Yulu (author) / Wang, Ban (author) / Li, Ni (author) / Zhang, Youmin (author)


    Publication date :

    2023-06-06


    Size :

    1796678 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English