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A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties

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Abstract

In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results.

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Author information

Authors and Affiliations

  1. School of Aeronautics, Northwestern Polytechnical University, Xi’an, 710072, China

    Ban Wang & Wei Zhang

  2. Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, H3G 1M8, QC, Canada

    Youmin Zhang

Authors
  1. Ban Wang
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  2. Youmin Zhang
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  3. Wei Zhang
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Corresponding author

Correspondence to Youmin Zhang.

Additional information

This research was partially supported by the National Natural Science Foundation of China under Grant Nos. 62003266 and 61833013, the Fundamental Research Funds for the Central Universities under Grant No. G2019KY05103, and the Natural Sciences and Engineering Research Council of Canada.

This paper was recommended for publication by Editor XIN Bin.

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Wang, B., Zhang, Y. & Zhang, W. A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties. J Syst Sci Complex 35, 81–104 (2022). https://doi.org/10.1007/s11424-022-1030-y

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  • DOI: https://doi.org/10.1007/s11424-022-1030-y

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