A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances
This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2021/6672812 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849399515007680512 |
|---|---|
| author | Ban Wang Peng Huang Wei Zhang |
| author_facet | Ban Wang Peng Huang Wei Zhang |
| author_sort | Ban Wang |
| collection | DOAJ |
| description | This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios. |
| format | Article |
| id | doaj-art-9d99dca3dce64ed189bb38fd4ca5ee69 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-9d99dca3dce64ed189bb38fd4ca5ee692025-08-20T03:38:19ZengWileyComplexity1076-27871099-05262021-01-01202110.1155/2021/66728126672812A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External DisturbancesBan Wang0Peng Huang1Wei Zhang2School of Aeronautics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaChinese Flight Test Establishment, Xi’an, Shaanxi 710089, ChinaSchool of Aeronautics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaThis paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios.http://dx.doi.org/10.1155/2021/6672812 |
| spellingShingle | Ban Wang Peng Huang Wei Zhang A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances Complexity |
| title | A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances |
| title_full | A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances |
| title_fullStr | A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances |
| title_full_unstemmed | A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances |
| title_short | A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances |
| title_sort | robust fault tolerant control for quadrotor helicopters against sensor faults and external disturbances |
| url | http://dx.doi.org/10.1155/2021/6672812 |
| work_keys_str_mv | AT banwang arobustfaulttolerantcontrolforquadrotorhelicoptersagainstsensorfaultsandexternaldisturbances AT penghuang arobustfaulttolerantcontrolforquadrotorhelicoptersagainstsensorfaultsandexternaldisturbances AT weizhang arobustfaulttolerantcontrolforquadrotorhelicoptersagainstsensorfaultsandexternaldisturbances AT banwang robustfaulttolerantcontrolforquadrotorhelicoptersagainstsensorfaultsandexternaldisturbances AT penghuang robustfaulttolerantcontrolforquadrotorhelicoptersagainstsensorfaultsandexternaldisturbances AT weizhang robustfaulttolerantcontrolforquadrotorhelicoptersagainstsensorfaultsandexternaldisturbances |