Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior
In this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are modeled as time-varying multiplicative parameters t...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/12/4/140 |
| _version_ | 1797606881800224768 |
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| author | Wenlai Ma Minghua Hu Wei Hao Haijun Wang Peiyu Wang |
| author_facet | Wenlai Ma Minghua Hu Wei Hao Haijun Wang Peiyu Wang |
| author_sort | Wenlai Ma |
| collection | DOAJ |
| description | In this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are modeled as time-varying multiplicative parameters to improve the model accuracy. The control system is decoupled into two parts, including the inner-loop attitude control and the outer-loop position control. The radial basis function neural network (RBFNN) is utilized in the outer loop to estimate the actuator anomalies and external disturbances, and then the state feedback controller is employed for the position tracking of the UAV. Then, the robust integral of the signum of the error (RISE) controller is designed for the inner loop to compensate for actuator anomalies and external disturbances. The composite stability of the closed-loop system and the asymptotical tracking performance are proved via a Lyapunov-based stability analysis. Numerical simulations based on the proposed fault tolerant control (FTC) scheme as well as the comparison results with a sliding mode-based FTC method validate the effectiveness and better performance of the proposed control design. |
| first_indexed | 2024-03-11T05:21:14Z |
| format | Article |
| id | doaj.art-c117768d9b91495b83fc40261b6300ee |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-11T05:21:14Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-c117768d9b91495b83fc40261b6300ee2023-11-17T17:50:56ZengMDPI AGActuators2076-08252023-03-0112414010.3390/act12040140Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal BehaviorWenlai Ma0Minghua Hu1Wei Hao2Haijun Wang3Peiyu Wang4College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaCollege of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaFlight College, Binzhou University, Binzhou 256600, ChinaFlight College, Binzhou University, Binzhou 256600, ChinaFlight College, Binzhou University, Binzhou 256600, ChinaIn this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are modeled as time-varying multiplicative parameters to improve the model accuracy. The control system is decoupled into two parts, including the inner-loop attitude control and the outer-loop position control. The radial basis function neural network (RBFNN) is utilized in the outer loop to estimate the actuator anomalies and external disturbances, and then the state feedback controller is employed for the position tracking of the UAV. Then, the robust integral of the signum of the error (RISE) controller is designed for the inner loop to compensate for actuator anomalies and external disturbances. The composite stability of the closed-loop system and the asymptotical tracking performance are proved via a Lyapunov-based stability analysis. Numerical simulations based on the proposed fault tolerant control (FTC) scheme as well as the comparison results with a sliding mode-based FTC method validate the effectiveness and better performance of the proposed control design.https://www.mdpi.com/2076-0825/12/4/140tri-rotor UAVFTCrobust tracking controlinner-outer-loop control |
| spellingShingle | Wenlai Ma Minghua Hu Wei Hao Haijun Wang Peiyu Wang Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior Actuators tri-rotor UAV FTC robust tracking control inner-outer-loop control |
| title | Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior |
| title_full | Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior |
| title_fullStr | Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior |
| title_full_unstemmed | Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior |
| title_short | Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior |
| title_sort | nonlinear robust fault tolerant tracking control of a tri rotor uav against actuator s abnormal behavior |
| topic | tri-rotor UAV FTC robust tracking control inner-outer-loop control |
| url | https://www.mdpi.com/2076-0825/12/4/140 |
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