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Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology

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Abstract

This paper presents a new fault-tolerant controller based on an immersion and invariance (I&I) observer to deal with the partial loss of actuator’s effectiveness associated with a quadrotor unmanned aerial vehicle. The I&I observer is utilized to estimate the actuator fault which is unknown, and it is combined with a sliding mode controller to stabilize the attitude of the quadrotor. A dynamic scaling factor and a filtered state are introduced to the observer to guarantee the availability of the invariant and attractive manifold. To avoid the singularity associated with orientation representations, the unit quaternion representation is utilized to formulate the attitude controller. The Lyapunov-based stability analysis is employed to prove that a global asymptotical stability result is achieved. Real-time flight tests are implemented on a self-built hardware-in-loop-simulation quadrotor testbed, and the results show that the proposed fault-tolerant controller has achieved good control performance under partial loss of actuator’s effectiveness.

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Acknowledgements

This work was supported by the Natural Science Foundation of Tianjin (Grant No. 14JCZDJC31900), the Key project of Tianjin science and technology support program (Grant No. 15ZCZ DGX00810), the Tianjin science and technology program (Grant No. 14RCHZGX00862), and National Natural Science Foundation of China (Grant Nos. 90916004, 60804004).

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Authors and Affiliations

  1. The Institute of Robotics and Autonomous System, The Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China

    Wei Hao & Bin Xian

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  1. Wei Hao
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  2. Bin Xian
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Correspondence to Bin Xian.

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Hao, W., Xian, B. Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology. Nonlinear Dyn 90, 2813–2826 (2017). https://doi.org/10.1007/s11071-017-3842-1

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  • DOI: https://doi.org/10.1007/s11071-017-3842-1

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