A sliding‐mode‐based active fault‐tolerant control for robust trajectory tracking in quad‐rotors under a rotor failure

Abstract

In this article an active fault‐tolerant control (FTC) is developed for the tracking problem in a quad‐rotor under the effects of a rotor failure and external disturbances. Such a strategy is composed of a finite‐time sliding‐mode observer, which estimates the full state from the measurable output and identifies uniformly bounded and Lipschitz disturbances. The failure scenario is analyzed in order to identify how it affects the dynamics. It is assumed that the failure has been isolated. The FTC design is composed of PID and continuous high‐order sliding‐modes controllers that allow the yaw angular velocity to remain bounded and the position tracking to be achieved even in the presence of some external disturbances. The closed‐loop stability is formally proven. Numerical simulations show the performance of the proposed control strategy.

Editorial: Sliding‐mode algorithms for state estimation and fault diagnosis

“…In this regard, the special issue collects eight selected papers. Falcón, Ríos, and Dzul 16 propose an active fault-tolerant control for a quad-rotor under a rotor failure and external disturbances. A finite-time sliding-mode observer estimates the state and identifies the disturbances.…”

Fractional‐order integral terminal sliding‐mode control for perturbed nonlinear systems with application to quadrotors

“…In Reference 36, a non‐singular TSM controller was applied to follow desired quadrotor's position. Similarly, Reference 37 proposed a finite‐time sliding‐mode observer to estimate the full state and recognize uniformly Lipschitz disturbances. The authors of Reference 38 developed a control strategy for autonomous quadrotor vehicle with external disturbances using SMC and backstepping approaches.…”