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Disturbance Observer-based Nonsingular Fast Terminal Sliding Mode Fault Tolerant Control of a Quadrotor UAV with External Disturbances and Actuator Faults

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  • Control Theory and Applications
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Abstract

This paper addresses a nonsingular fast terminal sliding mode fault tolerant control (NFTSMFTC) scheme based on disturbance observer (DO) for a quadrotor UAV in the presence of external disturbances and actuator additive faults. Firstly, by analyzing the dynamic characteristics of a quadrotor UAV, the model is decoupled into outer-loop (position subsystem) and inner-loop (attitude subsystem). Secondly, the DO is utilized to deal with external disturbances and actuator additive faults effectively. Furthermore, nonsingular fast terminal sliding mode control (NFTSMC) can avoid the chattering problems of traditional sliding mode control (SMC) and singularity problems of terminal SMC. Moreover, compared with nonsingular terminal SMC, it behaves the faster convergence rate. So the NFTSMC method is applied to design controller. Finally, in the framework of Lyapunov theory, the stability of the closed-loop system is analyzed, and the tracking error is asymptotically stable. The effectiveness of the proposed control scheme is verified by simulation results.

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Funding

This research was supported by Natural Science Foundation of Hebei Province (F2020203105), National Natural Science Foundation of China (61503323).

Author information

Authors and Affiliations

  1. School of Science, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Fang Wang, Zhigang Ma & Hongmei Gao

  2. Ocean College of Hebei Agricultural University, Qinhuangdao, 066003, China

    Chao Zhou

  3. School of Electric Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, China

    Changchun Hua

Authors
  1. Fang Wang
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  2. Zhigang Ma
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  3. Hongmei Gao
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  4. Chao Zhou
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Corresponding author

Correspondence to Fang Wang.

Additional information

Fang Wang received her M.S. degree in computational mathematics from Yanshan University, Hebei, China, in 2008. In 2014, she received a Ph.D. degree in control theory and control engineering from Tianjin University, Tianjin, China. She is currently an associate professor in Yanshan University. She is the author or coauthor of more than 30 papers in technical journals, and conferences. She has been involved in projects supported by the National Natural Science Foundation of China, the China Postdoctoral Science Foundation, and other important foundations. Her major research interests include nonlinear control theories, adaptive control, robust control, guidance, and control of aircraft.

Zhigang Ma received his B.S. degree from Changzhi University, Shanxi, China in 2019. Now, he is studying in Yanshan University for a Master’s degree and his research interest is quadrotor UAV control.

Hongmei Gao received her B.S. degree from Xinzhou Teachers University, Shanxi, China, in 2017. Now, she is studying in Yanshan University for a Master’s degree and her research interest is quadrotor UAV control.

Chao Zhou received his Ph.D. degree in mechanical engineering from Yanshan University, Qinhuangdao, China, in 2019. Now he is a Lecturer in Hebei Agricultural University, China. He is the author or coauthor of more than 15 papers in technical journals, and conferences. His research interests include metallurgy automatic, machinery design and theory, and highly efficient continuous casting technology.

Changchun Hua received his Ph.D. degree in electrical engineering from Yanshan University, Qinhuangdao, China, in 2005. He was a research Fellow in National University of Singapore from 2006 to 2007. From 2007 to 2009, he worked in Carleton University, Canada, funded by Province of Ontario Ministry of Research and Innovation Program. From 2009 to 2011, he worked in University of Duisburg-Essen, Germany, funded by Alexander von Humboldt Foundation. Now he is a full professor in Yanshan University, China. He is the author or coauthor of more than 110 papers in mathematical, technical journals, and conferences. His research interests are in nonlinear control systems, control systems design over network, teleoperation systems, and intelligent control.

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Wang, F., Ma, Z., Gao, H. et al. Disturbance Observer-based Nonsingular Fast Terminal Sliding Mode Fault Tolerant Control of a Quadrotor UAV with External Disturbances and Actuator Faults. Int. J. Control Autom. Syst. 20, 1122–1130 (2022). https://doi.org/10.1007/s12555-020-0773-2

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