Fault Tolerant Control Based on Adaptive Fuzzy Global Fast Dynamic Terminal Sliding Mode for Actuators Failures in an Octorotor UAV
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Date
2021
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Abstract
This work presents a reliable fault-tolerant tracking control system (FTTCS) for actuator faults in a octorotor
unmanned aerial vehicle. The proposed FTTCS is designed based on adaptive fuzzy global fast dynamic terminal
sliding mode control (AFGFDTSMC) that guarantees the global asymptotic stability of a octorotor system. To mitigate
the negative impacts of model uncertainties and enhance system robustness in faulty operation, an adaptive fuzzy
system is incorporated into the global fast dynamic terminal sliding mode control (GFDTSMC) scheme for adaptively
identifying the model uncertainties online and compensate the actuator faults effect. Lyapunov stability analysis proofs
that the developed control method design maintains the stability in the closed loop dynamics of octorotor UAV in
faulty operation. Simulation results show that the proposed (FTTCS) enables the octorotor to track the desired
reference commands in the presence of actuator faults with satisfactory performance
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Keywords
Sliding mode control, Adaptive fuzzy logic systems, Non-linear control, Octorotor.