A Fractional Order Sliding Mode-based Fault Tolerant Tracking Approach for a Quadrotor UAV

摘要

This paper proposes a Fractional Order Sliding Mode (FSM)-based fault tolerant tracking approach for a quadrotor UAV subject to actuator faults. The approach is based on the design of a robust FSM Observer to estimate the immeasurable states of the quadrotor. A Fractional Order Terminal Sliding Mode Control (FTSMC) law is then derived to guarantee finite time stability of the closed loop system. The controller gains are dynamically adapted to ensure stability under unknown faults. Stability of the proposed approach is analyzed based on the Lyapunov theory and fractional calculus. Simulation results show the effectiveness of the proposed approach in closely tracking the reference trajectory even under impaired conditions.