Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control

Wang, Xuerui; Kampen, E. van; Chu, Q.P.

doi:10.1016/j.ast.2019.105514

Cited by 41 publications

(38 citation statements)

References 39 publications

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“… ε is related to t  , and its boundary can be further reduced with higher sampling frequency [18,19,22].…”

Section: Remark 7 the Bound Of The Residual Indi Twmentioning

confidence: 99%

“…The main advantage of INDI is that not only the model dependency is reduced, but also the robustness is improved. Recently, the combination of INDI and SMC (named INDI-SMC [18,19,22]) that inherits the merits and avoids the defects of both methods has been studied to further improve the robustness of INDI. Motivated by the above mentioned, this paper proposes an incremental twisting FTC law that innovatively integrates the INDI and twisting control [23,24] (a type of second-order SMC) for the full reentry trajectory tracking of hypersonic vehicles.…”

Section: Introductionmentioning

confidence: 99%

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Incremental Twisting Fault Tolerant Control for Hypersonic Vehicles With Partial Model Knowledge

Han

Shin

et al. 2022

IEEE Trans. Ind. Inf.

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A passive fault tolerant control scheme is proposed for the full reentry trajectory tracking of a hypersonic vehicle in the presence of modelling uncertainties, external disturbances, and actuator faults. To achieve this goal, the attitude error dynamics with relative degree two is formulated first by ignoring the nonlinearities induced by the translational motions. Then, a multivariable twisting controller is developed as a benchmark to ensure the precise tracking task. Theoretical analysis with the Lyapunov method proves that the attitude tracking error and its first-order derivative can simultaneously converge to the origin exponentially. To depend less on the model knowledge and reduce the system uncertainties, an incremental twisting fault tolerant controller is derived based on the incremental nonlinear dynamic inversion control and the predesigned twisting controller. It is shown that not only the benefits of both incremental control and twisting control are inherited, but also their side effects are reduced. Notably, the proposed controller is user friendly in that only fixed gains and partial model knowledge are required. Numerical simulations in various cases and comparison studies are conducted to verify the effectiveness of the proposed method.

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“… ε is related to t  , and its boundary can be further reduced with higher sampling frequency [18,19,22].…”

Section: Remark 7 the Bound Of The Residual Indi Twmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Incremental Twisting Fault Tolerant Control for Hypersonic Vehicles With Partial Model Knowledge

Han

Shin

et al. 2022

IEEE Trans. Ind. Inf.

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“…A global non-singular terminal SMC strategy has been developed for non-linear systems which ensures the finite time convergence of the system to the sliding surface. An incremental non-singular terminal SMC for MIMO systems having model uncertainties and external perturbations is proposed in [48]. Chattering free attitude tracking of quad-copters is achieved by non-singular terminal SMC in [49].…”

Section: U Wmentioning

confidence: 99%

UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control

et al. 2021

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Leader follower formation of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) has found numerous applications such as surveillance of critical infrastructure, industrial automation and disaster management emergency. For completion of high precision group tasks, the choice of appropriate control mechanism is of utmost importance. In presence of environmental effects,external disturbances and parametric uncertainties in the UAVs and UGV models, the controller design process is a challenging task. In order to address the aforementioned problems and to ensure minimum tracking errors and fast convergence of the states, this article proposes an adaptive robust formation and trajectory tracking control scheme for a leader follower formation of UAVs and UGV using Non-Singular Terminal Super Twisting Sliding Mode Control Method.Adaptive compensators are derived based on Lyapunov function method and stability of the proposed controllers is guaranteed. Two variants of the control schemes namely Adaptive Super Twisting SMC (AST-SMC) and Adaptive Non-Singular Terminal Super Twisting SMC (ANSTS-SMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, and with the proposed ANSTS-SMC control scheme, the measured [X , Y ] tracking errors for leader, follower1 and follower2 UAVs are [0 , 0.01]m,[0.01 , 0.02]m and [0.01 , 0.02]m respectively, While with the AST-SMC method the peak [X , Y ] tracking errors for leader, follower1 and follower2 UAVs are [0.05 , 0.05]m,[0.1 , 0.2]m and [0.05 , 0.1]m respectively. The proposed leader follower formation can be effectively used to monitor solar/PV panels and cables in large solar parks.

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“…However, they suffer more from actuator damages due to a lack of actuator redundancy. Partial damage on the rotors could result in the reduction of control effectiveness, which has been extensively studied in the literature (e.g., [1], [2], [3], [4]). A more challenging problem is the complete loss of one or more rotors (Fig.…”

Section: Introductionmentioning

confidence: 99%

Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

et al. 2021

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In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (> 8m/s). The incremental nonlinear dynamic inversion (INDI) approach which excels in handling model uncertainties is adopted to compensate for the significant unknown aerodynamic effects. The internal dynamics of such an underactuated system have been analyzed, and subsequently stabilized by re-defining the control output. The proposed method can be generalized to control a quadrotor under single-rotor-failure and nominal conditions. For validation, flight tests have been carried out in a large-scale open jet wind tunnel. The position of a damaged quadrotor can be controlled in the presence of significant wind disturbances. A linear quadratic regulator (LQR) approach from the literature has been compared to demonstrate the advantages of the proposed nonlinear method in the windy and high-speed flight condition.

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Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control

Cited by 41 publications

References 39 publications

Incremental Twisting Fault Tolerant Control for Hypersonic Vehicles With Partial Model Knowledge

Incremental Twisting Fault Tolerant Control for Hypersonic Vehicles With Partial Model Knowledge

UAVs-UGV Leader Follower Formation Using Adaptive Non-Singular Terminal Super Twisting Sliding Mode Control

Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

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