Command-Filter-Based Finite-Time Fault-Tolerant Control of Attitude Tracking for Quadrotor UAVs with Actuator Faults

被引：0
|
作者：
Li, Boning [1 ]
Chen, Ming [2 ]
Qi, Shuchang [3 ]
机构：
[1] Department of Electronic Information, University of Science and Technology, Liaoning, 114051, China
[2] Department of Electronic Information, University of Science and Technology Liaoning, Liaon-ing, Anshan,114051, China
[3] Department of Electronic Information, University of Science and Technology Liaoning, Liaoning, Anshan,114051, China
来源：
IAENG International Journal of Applied Mathematics | 2024年 / 54卷 / 11期
基金：
中国国家自然科学基金;
关键词：
Adaptive control systems - Aircraft detection - Convertible helicopters - Numerical control systems - Robustness (control systems) - Unmanned aerial vehicles (UAV);
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A finite-time controller of attitude tracking is designed for quadrotor unmanned aerial vehicles (UAVs). In order to avoid the differential explosion problem existing in the traditional backstepping method, a command filter is introduced. In addition, as for the possible actuator faults, fault-tolerant control is incorporated into the controller, in which the parameter estimators are designed to identify the unknown fault parameters in the system. Through the comprehensive application of finite-time control, adaptive control and fault-tolerant control, the proposed controller ensures that the system’s rapidity, robustness and reliability are improved. Finally, the validity and stability of our present control scheme are verified by a numerical simulation. © (2024), (International Association of Engineers). All rights reserved.
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页码：2431 / 2439
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