Integral-type Sliding Mode based Fault-tolerant Attitude Stabilization of A Quad-rotor UAV

摘要

This work addresses the fault tolerant attitude stabilization control problem of a quad-rotor UAV utilizing the integral-type sliding mode control strategy, in the presence of external disturbances and actuator faults. As a stepping stone, a simple PD-type controller is introduced to guarantee the asymptotical stability of the ideal UAV attitude control system without any fault. Then, an integral-type sliding mode control based fixed-time robust controller is proposed for the attitude control system under external disturbances. Further consider the actuator faults, a novel integral-type sliding mode control and adaptive technique based fixed-time fault-tolerant controller is proposed, and the chattering phenomenon is restricted by the switching control construction. Finally, a quad-rotor UAV example is utilized to verify the effectiveness and fine performance of the proposed schemes by numerical simulations.