NFTSM-based Fault Tolerant Control for Quadrotor Unmanned Aerial Vehicle with Finite-Time Convergence ?

摘要

The fault tolerant control for unmanned aerial vehicle (UAV) in a finite time is particularly important after UAV actuators fault occurs. In this paper, a fault tolerant control scheme is proposed based on the nonsingular fast terminal sliding mode technique (NFTSM) for quadrotor UAV under the actuator partial loss-of-effectiveness fault (LOE). The quadrotor UAV dynamic model is described and a double-hierarchy fault tolerant mechanism is constructed to control the position and Euler angles simultaneously. A finite-time controller is designed based on NFTSM technique for the fault-free system and the setting time is analyzed who is faster and less chattering than that of second order sliding model controller. Then the fault compensation PI controller is given to guarantee the finite-time stability when the LOE fault occurs in one motors speed actuator. Simulations are given to test the efficiency of the proposed method.