Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Wang, Xuerui (TU Delft Control & Simulation)
Sun, S. (TU Delft Control & Simulation)
van Kampen, E. (TU Delft Control & Simulation)
Chu, Q. P. (TU Delft Control & Simulation)

2019

This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear Dynamic Inversion (NDI) in the literature, the model dependency of the controller and the uncertainties in the closed-loop system are simultaneously reduced. This allows INDI-SMC/SMDO to passively resist a wider variety of faults and external disturbances using continuous control inputs with lower control and observer gains. When applied to a quadrotor, both numerical simulations and real-world flight tests demonstrate that INDI based SMC/SMDO has better performance and robustness over NDI based SMC/SMDO, in the presence of model uncertainties, wind disturbances, and sudden actuator faults. Moreover, the implementation process is simplified because of the reduced model dependency and smaller uncertainty variations of INDI-SMC/SMDO. Therefore, the proposed control method can be easily implemented to improve the performance and survivability of quadrotors in real life.

Fault-Tolerant Control
Incremental Nonlinear Dynamic Inversion
Quadrotor flight tests
Sliding Mode Control
Sliding Mode Disturbance Observer

http://resolver.tudelft.nl/uuid:61c21b75-bda0-460a-b185-dac7459020f4

https://doi.org/10.1016/j.ast.2019.03.001

2022-01-05

1270-9638

Aerospace Science and Technology, 87, 417-430

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

journal article

© 2019 Xuerui Wang, S. Sun, E. van Kampen, Q. P. Chu