A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays
Quadrotor unmanned aerial vehicles have become very popular for doing numerous tasks; however, due to their small size and weight, they are very sensitive to parameter uncertainties and external disturbances. In this paper, a new robust fault-tolerant approach is introduced to track the attitude tra...
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2025-01-01
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| author | V. T. Mai Farzaneh Jani Khalid A. Alattas Ebrahim Ghaderpour Ardashir Mohammadzadeh |
| author_facet | V. T. Mai Farzaneh Jani Khalid A. Alattas Ebrahim Ghaderpour Ardashir Mohammadzadeh |
| author_sort | V. T. Mai |
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| description | Quadrotor unmanned aerial vehicles have become very popular for doing numerous tasks; however, due to their small size and weight, they are very sensitive to parameter uncertainties and external disturbances. In this paper, a new robust fault-tolerant approach is introduced to track the attitude trajectory of a quadrotor in finite time that suffers from stochastic actuator faults, system parameter uncertainties, and unknown external disturbances. Furthermore, the effects of time-varying input delay are considered in the control input. Based on the Lyapunov-Krasovskii functional approach, two theorems are given to derive some delay-dependent conditions regarding the design of a controller that guarantees the finite-time contractive stability of the attitude tracking error system with the prescribed <inline-formula> <tex-math notation="LaTeX">${\mathrm{H}}_{\infty } $ </tex-math></inline-formula> performance index. This means that the tracking error states converge to a defined bound within a fixed time interval which is smaller than the initial state bound, and the acceptable <inline-formula> <tex-math notation="LaTeX">${\mathrm{H}}_{\infty } $ </tex-math></inline-formula> disturbance attenuation level is achieved. Finally, the proposed method is applied to a quadrotor facing the external disturbance and stochastic actuator fault. The simulation results verify the effectiveness and superiority of the proposed control scheme as compared to the asymptotic stability approach and the finite-time boundedness stability model. |
| format | Article |
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| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| spelling | doaj-art-d032a4155fd2470b9a27eaf8ecf06b9b2025-08-20T02:18:27ZengIEEEIEEE Access2169-35362025-01-0113646276463710.1109/ACCESS.2025.355918010960291A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input DelaysV. T. Mai0https://orcid.org/0009-0000-1448-8236Farzaneh Jani1Khalid A. Alattas2https://orcid.org/0000-0001-6528-3636Ebrahim Ghaderpour3https://orcid.org/0000-0002-5165-1773Ardashir Mohammadzadeh4https://orcid.org/0000-0001-5173-4563Faculty of Engineering, Dong Nai Technology University, Bien Hoa City, VietnamDepartment of Electrical and Electronics Engineering, Faculty of Engineering, Sakarya University, Sakarya, TürkiyeDepartment of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah, Saudi ArabiaDepartment of Earth Sciences, Sapienza University of Rome, Rome, ItalyDepartment of Electrical and Electronics Engineering, Faculty of Engineering, Sakarya University, Sakarya, TürkiyeQuadrotor unmanned aerial vehicles have become very popular for doing numerous tasks; however, due to their small size and weight, they are very sensitive to parameter uncertainties and external disturbances. In this paper, a new robust fault-tolerant approach is introduced to track the attitude trajectory of a quadrotor in finite time that suffers from stochastic actuator faults, system parameter uncertainties, and unknown external disturbances. Furthermore, the effects of time-varying input delay are considered in the control input. Based on the Lyapunov-Krasovskii functional approach, two theorems are given to derive some delay-dependent conditions regarding the design of a controller that guarantees the finite-time contractive stability of the attitude tracking error system with the prescribed <inline-formula> <tex-math notation="LaTeX">${\mathrm{H}}_{\infty } $ </tex-math></inline-formula> performance index. This means that the tracking error states converge to a defined bound within a fixed time interval which is smaller than the initial state bound, and the acceptable <inline-formula> <tex-math notation="LaTeX">${\mathrm{H}}_{\infty } $ </tex-math></inline-formula> disturbance attenuation level is achieved. Finally, the proposed method is applied to a quadrotor facing the external disturbance and stochastic actuator fault. The simulation results verify the effectiveness and superiority of the proposed control scheme as compared to the asymptotic stability approach and the finite-time boundedness stability model.https://ieeexplore.ieee.org/document/10960291/Quadrotorrobust fault-tolerant controlfinite-time contractive stabilitystochastic actuator faultinput delay |
| spellingShingle | V. T. Mai Farzaneh Jani Khalid A. Alattas Ebrahim Ghaderpour Ardashir Mohammadzadeh A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays IEEE Access Quadrotor robust fault-tolerant control finite-time contractive stability stochastic actuator fault input delay |
| title | A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays |
| title_full | A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays |
| title_fullStr | A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays |
| title_full_unstemmed | A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays |
| title_short | A Robust Finite-Time Fault-Tolerant Tracking Control for Quadrotor Attitude System With Stochastic Actuator Faults and Input Delays |
| title_sort | robust finite time fault tolerant tracking control for quadrotor attitude system with stochastic actuator faults and input delays |
| topic | Quadrotor robust fault-tolerant control finite-time contractive stability stochastic actuator fault input delay |
| url | https://ieeexplore.ieee.org/document/10960291/ |
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