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Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor

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Abstract

In this paper, a model for a Quadrotor helicopter has been considered when a fault has been occurred in its actuators. The sliding mode control technique has been utilized as one of a robust passive fault tolerant control methods to control the Quadrotor’s attitude. An adaptive fuzzy system, as a compensator has been used to compensate the estimation error of nonlinear functions and faulty parts. Although increasing the adaptation rate enhances the responding speed, it is accompanied by closed loop system instability. In order to avoid instability and to increase the robustness of the closed loop system, in this paper, a new parallel fuzzy system has been proposed along with a main fuzzy system. The adaptation rules of the main and parallel fuzzy systems were extracted from Lyapunov’s stability theory. During the numerical simulation, the efficiency of the proposed method has been shown against actuator faults.

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Author information

Authors and Affiliations

  1. Faculty of Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

    Saeed Barghandan

  2. Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz, Iran

    Mohammad Ali Badamchizadeh

  3. Computer Engineering, Iran University of Science and Technology, Tehran, Iran

    Mohammad Reza Jahed-Motlagh

Authors
  1. Saeed Barghandan
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  2. Mohammad Ali Badamchizadeh
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  3. Mohammad Reza Jahed-Motlagh
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Corresponding author

Correspondence to Mohammad Ali Badamchizadeh.

Additional information

Recommended by Associate Editor Bin Jiang under the direction of Editor Ju Hyun Park.

Saeed Barghandan was born in Tabriz, Iran, in February 1979. He received his M.Sc. degree in Control Engineering from K.N. Toosi University of Technology, Iran, in 2004, and his Ph.D. degree in Control Engineering at Science and Research Branch, Islamic Azad University, Tehran, Iran, in 2016. His research interests include MIMO systems, adaptive control, nonlinear control, and intelligent systems.

Mohammad Ali Badamchizadeh was born in Tabriz, Iran, in December 1975. He received his B.S. degree in electrical engineering, an M.Sc. degree in control engineering, and a Ph.D. degree in control engineering from the University of Tabriz, in 1998, 2001, and 2007, respectively. He is currently a full Professor with the Faculty of Electrical and Computer Engineering, University of Tabriz. His research interests include adaptive control, fractional systems, game theory, and system identification.

Mohammad Reza Jahed-Motlagh received his B.Sc. degree in Electrical Engineering in 1978 from the Sharif University of Technology, Tehran, Iran, and his M.Sc. and Ph.D. degrees in Control Engineering in 1986 and 1990, both from the University of Bradford, Bradford, UK. He is currently an Associate Professor of Iran University of Science and Technology, Tehran, Iran. His research interests include complex systems, nonlinear systems, and artificial intelligence.

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Barghandan, S., Badamchizadeh, M.A. & Jahed-Motlagh, M.R. Improved adaptive fuzzy sliding mode controller for robust fault tolerant of a Quadrotor. Int. J. Control Autom. Syst. 15, 427–441 (2017). https://doi.org/10.1007/s12555-015-0313-7

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  • DOI: https://doi.org/10.1007/s12555-015-0313-7

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