Adaptive non-linear integral sliding mode fault-tolerant control allocation scheme for Octorotor UAV system

Salman Ijaz, Chen Fuyang, Mirza Tariq Hamayun

Research output: Journal PublicationArticlepeer-review

4 Citations (Scopus)

Abstract

This study proposes a new active fault-tolerant control (FTC) and fault estimation scheme for a non-linear octorotor system. The proposed method utilises the idea of an online control allocation (CA) scheme to fully engage the rotors redundancy based on the information from the fault estimation unit. The nominal performance is first achieved using non-linear dynamic inversion (NDI) technique and then to incorporate the robustness, an adaptive non-linear sliding mode control is united with a baseline NDI controller. The proposed method is used to attain the desired altitude and attitude tracking control of an octorotor system. Furthermore, to control the un-actuated states (called internal dynamics) of octorotor system, a separate integral sliding mode-based NDI controller is designed that provides the translational axes control by generating the desired roll and pitch commands. Simulations on the non-linear model of octorotor system validate the dominant performance of the proposed scheme compared to the existing methods in the literature.

Original languageEnglish
Pages (from-to)3139-3159
Number of pages21
JournalIET Control Theory and Applications
Volume14
Issue number19
DOIs
Publication statusPublished - 21 Dec 2020
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering

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