In this paper, an extended state observer (ESO)-based sliding mode tracking control method is designed for the quadrotor unmanned aerial vehicle (UAV) with external disturbances and actuator faults. Firstly, the nonlinear model of the quadrotor UAV is established. Then the ESO is constructed to tackle the unknown differentiable disturbances and the sliding mode control technique is combined with adaptive estimation to address the unknown nondifferentiable actuator faults, respectively. Finally, a robust fault-tolerant tracking control method is proposed to make sure that all closed-loop system errors are uniformly ultimate bounded via Lyapunov stability analysis, and the efficiency of the proposed approach is confirmed by the numerical simulation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust Trajectory Tracking Control for Unmanned Aerial Vehicle with Actuator Faults


    Contributors:
    Du, Jiwei (author) / Yan, Kun (author) / Gao, Song (author) / Chen, Chaobo (author) / Zhao, Dong (author) / Shen, Haidong (author)


    Publication date :

    2023-06-23


    Size :

    372789 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    TRAJECTORY TRACKING CONTROL FOR UNMANNED AERIAL VEHICLE

    Zaidi, Jamshaid / Butt, Hamza / Nadeem, Zobia et al. | IEEE | 2018


    TRAJECTORY TRACKING METHOD AND UNMANNED AERIAL VEHICLE

    ZHANG TIANBAO | European Patent Office | 2023

    Free access

    Unmanned aerial vehicle trajectory tracking algorithm comparison

    Wilburn, Brenton K. / Perhinschi, Mario G. / Moncayo, Hever et al. | Emerald Group Publishing | 2013


    Reconfiguration control method for non-redundant actuator faults on unmanned aerial vehicle

    Boche, Adèle / Farges, Jean-Loup / De Plinval, Henry | SAGE Publications | 2020