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Limited Time Fault Tolerant Control for Attitude Stabilization of Quadrotor UAV

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Book cover Intelligent Robotics and Applications (ICIRA 2022)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13455))

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Abstract

Aiming at the situation of external disturbance and actuator failure in the attitude control of quadrotor UAV, an adaptive fault-tolerant control (FTC) method based on finite-time disturbance observer is proposed. First, the UAV dynamic model is decoupled into attitude subsystem and position subsystem; a finite-time disturbance observer is designed to observe the external unknown disturbances and actuator fault signals in the system in real time, and the observations are combined with the design of a non-singular fast terminal sliding mode controller, which not only realizes the detection of the unknown external disturbances in the system. It suppresses and compensates for the influence of actuator failure, and improves the tracking speed and control accuracy of the system. The stability of the control system is proved based on Lyapunov theory. Finally, the effectiveness of the proposed method is verified by simulation.

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Authors and Affiliations

  1. Shenyang Aerospace University, Shenyang, Liaoning, China

    Yibo Li & Tao Li

Authors
  1. Yibo Li
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  2. Tao Li
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Corresponding author

Correspondence to Yibo Li .

Editor information

Editors and Affiliations

  1. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  2. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  3. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  4. Harbin Institute of Technology, Harbin, China

    Li Jiang

  5. Shanghai Jiao Tong University, Shanghai, China

    Guoying Gu

  6. Shenzhen Institute of Advanced Technology, Shenzhen, China

    Xinyu Wu

  7. Harbin Institute of Technology, Shenzhen, China

    Weihong Ren

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Li, Y., Li, T. (2022). Limited Time Fault Tolerant Control for Attitude Stabilization of Quadrotor UAV. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_24

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  • DOI: https://doi.org/10.1007/978-3-031-13844-7_24

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-13843-0

  • Online ISBN: 978-3-031-13844-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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