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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    Title :

    Fault tolerant control of a quadrotor UAV using sliding mode control


    Contributors:


    Publication date :

    2010


    Size :

    6 Seiten, 9 Bilder, 18 Quellen



    Type of media :

    Conference paper


    Type of material :

    Storage medium


    Language :

    English




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