Disturbance Observer Based Fault Tolerant Control of a Quadrotor Helicopter

Hocaoglu, Yarkin; Mumcuoglu, Mehmet Emin; Ünel, Mustafa

doi:10.1109/iecon48115.2021.9589127

Cited by 2 publications

(1 citation statement)

References 15 publications

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“…As a result of a diversity of environments and attitudes, the aircraft will face various problems that cause system instability during the performance of tasks; thus, a highprecision observer is particularly important for the timely observation of aerial robots. A Velocity-based Disturbance Observer (VbDOB), which can not only increase the robustness to external disturbances and uncertainties in the plant dynamics but also manage accurate full-state estimations, was constructed in [18]. In [19], in order to provide information on states and faults to the outer controller, with the compensations for faults, researchers designed an adaptive observer based on a radial basis function neural network (RBFNN).…”

Section: Introductionmentioning

confidence: 99%

Adaptive Nonsingular Fast-Reaching Terminal Sliding Mode Control Based on Observer for Aerial Robots

Yang,

Xuan,

2024

Actuators

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In this article, an observer-based adaptive non-singular fast-reaching terminal sliding mode control strategy is proposed to tackle the problem of actuator faults and uncertain disturbance in aerial robot systems. Firstly, a model of an aerial robot system is established through dynamic analysis. Next, an adaptive observer, combined with a fast adaptive fault estimation (FAFE) algorithm, is proposed to estimate system states and actuator failure and compensate for faults in a precise and prompt manner. In addition, a non-singular fast terminal sliding surface is defined, taking into account the fast convergence of the tracking errors in order to provide appropriate trajectory tracking results. Since the upper bounds of the disturbances caused by the manipulator of the system in practice are unknown, the control approach may benefit from the addition of an adaptive control strategy that can suppress the influence of uncertain disturbances. The Lyapunov stability theory demonstrates that tracking errors are able to converge stably and quickly. In the end, the contrast experiment is conducted to exhibit the effectiveness of the proposed control strategy. The results demonstrate quicker convergence and improved estimating accuracy.

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Section: Introductionmentioning

confidence: 99%

Adaptive Nonsingular Fast-Reaching Terminal Sliding Mode Control Based on Observer for Aerial Robots

Yang,

Xuan,

2024

Actuators

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Predefined-Time Adaptive Fast Terminal Sliding Mode Control of Aerial Manipulation Based on a Nonlinear Disturbance Observer

Zhao,

Qian,

Zhang

2024

Electronics

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The contribution of this paper is to propose an adaptive fast terminal sliding mode controller that ensures exact predefined time stability of aerial manipulation tracking control based upon the nonlinear disturbance observer.The proposed control strategy is continuous and provides reliability in the situation of model error and nonvanishing disturbance.The adaptive parameter can adapt to the states of a system aimed at increasing the robustness of an aerial manipulator while reducing system chattering. Furthermore, the proposed nonlinear disturbance observer provides a scheme where the estimation of the observer can converge to the actual value within a given predefined time for the sake of enhancing robustness of the aerial manipulation system. Simulation results show the viability of the proposed controller in this paper.

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Disturbance Observer Based Fault Tolerant Control of a Quadrotor Helicopter

Cited by 2 publications

References 15 publications

Adaptive Nonsingular Fast-Reaching Terminal Sliding Mode Control Based on Observer for Aerial Robots

Adaptive Nonsingular Fast-Reaching Terminal Sliding Mode Control Based on Observer for Aerial Robots

Predefined-Time Adaptive Fast Terminal Sliding Mode Control of Aerial Manipulation Based on a Nonlinear Disturbance Observer

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