A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs
Unknown external disturbances and actuator failures significantly affect the performance and flight safety of quadrotor unmanned aerial vehicles (UAVs) during task execution. To address this challenge, this paper proposes a barrier function-based passive fault-tolerant control strategy combining a s...
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IEEE
2025-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/11069267/ |
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| author | Yujuan Wang Congmin Ji |
| author_facet | Yujuan Wang Congmin Ji |
| author_sort | Yujuan Wang |
| collection | DOAJ |
| description | Unknown external disturbances and actuator failures significantly affect the performance and flight safety of quadrotor unmanned aerial vehicles (UAVs) during task execution. To address this challenge, this paper proposes a barrier function-based passive fault-tolerant control strategy combining a super-twisting algorithm (STA) with sliding mode control (SMC). Firstly, STA based on potential barrier function is used to compensate unknown fault coefficients and external disturbances. This strategy does not need parameters related to actuator faults and external disturbances, and relies on its sign function-based controller design and robustness to overcome the adverse effects of unknown parameters. Furthermore, considering the transient response of the system, combined with the SMC strategy, the system has a faster response speed. In addition, the finite-time stability of the closed-loop system is guaranteed by Lyapunov theory. Finally, two sets of simulation experiments verify the effectiveness and superiority of the proposed control method. |
| format | Article |
| id | doaj-art-7736ab80daf84157bbe2b6901e76191b |
| institution | OA Journals |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| spelling | doaj-art-7736ab80daf84157bbe2b6901e76191b2025-08-20T02:35:59ZengIEEEIEEE Access2169-35362025-01-011311532111533010.1109/ACCESS.2025.358540811069267A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVsYujuan Wang0https://orcid.org/0009-0006-6452-1288Congmin Ji1School of Electrical Engineering, Shandong Huayu University of Technology, Dezhou, ChinaSchool of Electrical Engineering, Shandong Huayu University of Technology, Dezhou, ChinaUnknown external disturbances and actuator failures significantly affect the performance and flight safety of quadrotor unmanned aerial vehicles (UAVs) during task execution. To address this challenge, this paper proposes a barrier function-based passive fault-tolerant control strategy combining a super-twisting algorithm (STA) with sliding mode control (SMC). Firstly, STA based on potential barrier function is used to compensate unknown fault coefficients and external disturbances. This strategy does not need parameters related to actuator faults and external disturbances, and relies on its sign function-based controller design and robustness to overcome the adverse effects of unknown parameters. Furthermore, considering the transient response of the system, combined with the SMC strategy, the system has a faster response speed. In addition, the finite-time stability of the closed-loop system is guaranteed by Lyapunov theory. Finally, two sets of simulation experiments verify the effectiveness and superiority of the proposed control method.https://ieeexplore.ieee.org/document/11069267/Quadrotor UAVsliding mode controlfault tolerant controlfinite-time stabilitysuper-twisting algorithm |
| spellingShingle | Yujuan Wang Congmin Ji A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs IEEE Access Quadrotor UAV sliding mode control fault tolerant control finite-time stability super-twisting algorithm |
| title | A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs |
| title_full | A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs |
| title_fullStr | A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs |
| title_full_unstemmed | A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs |
| title_short | A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs |
| title_sort | passive fault tolerance strategy for super twisting algorithm based sliding mode control with barrier function for quadrotor uavs |
| topic | Quadrotor UAV sliding mode control fault tolerant control finite-time stability super-twisting algorithm |
| url | https://ieeexplore.ieee.org/document/11069267/ |
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