Active Fault Tolerant Control for a UAV Subject to Sensor Faults Using Sliding Mode Control

Wasif Shabbir, Li Aijun, Muhammad Taimoor, Cui Yuwei, Muhammad A. Shehu

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

Unmanned aerial vehicle (UAV) pitch tracking control in the presence of pitch rate gyro sensor faults is addressed in this work using sliding mode control (SMC). Fault estimation is carried out using two different observers, a high gain observer (HGO) and a radial basis function neural network (RBFNN). Real-time fault estimations are used in the control law to counter the effects of the faults. The chattering problem of SMC is resolved using a power reaching law in the switching part of the control. This forms an active fault tolerant control without the need for controller reconfiguration. The stability of the faulty system is proved using the Lyapunov method. The proposed strategy is applied to pitch tracking control of a scaled Yak-54 UAV. The simulation results show the effectiveness of the proposed methodology.

源语言英语
主期刊名2022 8th International Conference on Control, Automation and Robotics, ICCAR 2022
出版商Institute of Electrical and Electronics Engineers Inc.
375-380
页数6
ISBN(电子版)9781665481168
DOI
出版状态已出版 - 2022
活动8th International Conference on Control, Automation and Robotics, ICCAR 2022 - Xiamen, 中国
期限: 8 4月 202210 4月 2022

出版系列

姓名2022 8th International Conference on Control, Automation and Robotics, ICCAR 2022

会议

会议8th International Conference on Control, Automation and Robotics, ICCAR 2022
国家/地区中国
Xiamen
时期8/04/2210/04/22

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