Back-stepping sliding mode control method for quadrotor UAV with actuator failure

Abstract

In this article, a fault tolerant controller (FTC) based on back-stepping sliding mode is proposed for a quadrotor unmanned aerial vehicle (UAV) with single-rotor failure. According to the working mechanism of the quadrotor, the control system of UAV is divided into position subsystem and attitude subsystem. Then, the yaw control is abandoned because of the increased underactuation. The controller is designed by the back-stepping sliding mode control (BSMC). BSMC is robust to system uncertainties and external disturbances. Sliding mode reaching law is designed. Therefore, it can reduce system chattering. Based on the Lyapunov function method, the proposed FTC approach makes the faulty UAV stable and realises position control accuracy. Finally, simulation results show that the quadrotor UAV can reach the desired position and maintain the hover state, which verifies the effectiveness of the proposed method.

Keywords

• lyapunov methods
• fault tolerant control
• robust control
• control nonlinearities
• control system synthesis
• position control
• actuators
• variable structure systems
• rotors
• aircraft control
• autonomous aerial vehicles
• nonlinear control systems
• realises position control accuracy
• quadrotor uav
• sliding mode control method
• actuator failure
• fault tolerant controller
• quadrotor unmanned aerial vehicle
• single-rotor failure
• working mechanism
• control system
• position subsystem
• attitude subsystem
• yaw control
• bsmc
• system uncertainties
• sliding mode reaching law
• system chattering
• lyapunov function method
• ftc approach