Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs
This paper proposes an adaptive barrier fast terminal sliding mode control (ABFTSMC) approach for quadrotor unmanned aerial vehicles (UAV). Its main objectives are to mitigate the external disturbances, parametric uncertainties, and actuator faults. An adaptive barrier function is considered in the...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-08-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/10/16/3009 |
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| author | Amin Najafi Mai The Vu Saleh Mobayen Jihad H. Asad Afef Fekih |
| author_facet | Amin Najafi Mai The Vu Saleh Mobayen Jihad H. Asad Afef Fekih |
| author_sort | Amin Najafi |
| collection | DOAJ |
| description | This paper proposes an adaptive barrier fast terminal sliding mode control (ABFTSMC) approach for quadrotor unmanned aerial vehicles (UAV). Its main objectives are to mitigate the external disturbances, parametric uncertainties, and actuator faults. An adaptive barrier function is considered in the design to ensure the finite-time convergence of the output variables to a predefined locality of zero, independent of the disturbance bounds. A fast terminal sliding mode control (FTSMC) approach is designed to speed up the convergence rate in both reaching and sliding phases. The design considers hyperbolic tangent functions in the adaptive control law to drastically reduce the chattering effect, typically associated with the standard SMC. The performance of the proposed approach was assessed using a quadrotor UAV subject to external disturbances and sudden actuator faults. The obtained results show that the trajectory and the sliding surface converge to the origin in a finite time, without being affected by the high disturbance and actuator faults. In this method, due to the substitution of the discontinuous function by the hyperbolic tangent function, the chattering effect has also been highly reduced. |
| first_indexed | 2024-03-09T04:07:50Z |
| format | Article |
| id | doaj.art-85ca70380cff4ffc8f0ffada0fc0ed18 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-09T04:07:50Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-85ca70380cff4ffc8f0ffada0fc0ed182023-12-03T14:03:54ZengMDPI AGMathematics2227-73902022-08-011016300910.3390/math10163009Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVsAmin Najafi0Mai The Vu1Saleh Mobayen2Jihad H. Asad3Afef Fekih4Department of Electrical Engineering, University of Zanjan, Zanjan 45195-313, IranSchool of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, KoreaFuture Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, TaiwanDepartment of Physics, Faculty of Applied sciences, Palestine Technical University, Tulkarm P.O. Box 7, PalestineDepartment of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA 70504, USAThis paper proposes an adaptive barrier fast terminal sliding mode control (ABFTSMC) approach for quadrotor unmanned aerial vehicles (UAV). Its main objectives are to mitigate the external disturbances, parametric uncertainties, and actuator faults. An adaptive barrier function is considered in the design to ensure the finite-time convergence of the output variables to a predefined locality of zero, independent of the disturbance bounds. A fast terminal sliding mode control (FTSMC) approach is designed to speed up the convergence rate in both reaching and sliding phases. The design considers hyperbolic tangent functions in the adaptive control law to drastically reduce the chattering effect, typically associated with the standard SMC. The performance of the proposed approach was assessed using a quadrotor UAV subject to external disturbances and sudden actuator faults. The obtained results show that the trajectory and the sliding surface converge to the origin in a finite time, without being affected by the high disturbance and actuator faults. In this method, due to the substitution of the discontinuous function by the hyperbolic tangent function, the chattering effect has also been highly reduced.https://www.mdpi.com/2227-7390/10/16/3009quadrotor UAVfast terminal sliding modefault-tolerant controlactuator |
| spellingShingle | Amin Najafi Mai The Vu Saleh Mobayen Jihad H. Asad Afef Fekih Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs Mathematics quadrotor UAV fast terminal sliding mode fault-tolerant control actuator |
| title | Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs |
| title_full | Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs |
| title_fullStr | Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs |
| title_full_unstemmed | Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs |
| title_short | Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs |
| title_sort | adaptive barrier fast terminal sliding mode actuator fault tolerant control approach for quadrotor uavs |
| topic | quadrotor UAV fast terminal sliding mode fault-tolerant control actuator |
| url | https://www.mdpi.com/2227-7390/10/16/3009 |
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