Integral Sliding Mode Active Fault-Tolerant Control for Unmanned Aerial Vehicles

被引：0
|
作者：
Ge, Zhiwen [1 ]
Liu, Jianwei [1 ]
Yang, Pu [1 ]
机构：
[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing, Jiangsu, Peoples R China
来源：
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
fault estimation; integral sliding mode; AFTC; UAVs;
D O I：
10.1109/cac48633.2019.8996791
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, active fault tolerant control (AFTC) of unmanned aerial vehicles (UAVs) with bounded disturbances and an actuator fault is studied. Firstly, the system state variable and an unknown actuator fault are obtained through adaptive fault estimation (FE), then, it is proved that the estimation error of the dynamic system is asymptotically stable. Secondly, an active fault-tolerant control (AFTC) scheme combining integral sliding mode (ISM) and fault estimation is proposed. Under this scheme, the influence of disturbance and unknown actuator fault can be eliminated simultaneously in a finite time. Finally, we can illustrate the effectiveness of AFTC scheme by an example.
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页码：2216 / 2220
页数：5
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