Title: Fuzzy adaptive fault-tolerant controller design based on Nussbaum for nonlinear quadrotor UAV system with input saturation

Authors: Chaofang Hu; Zelong Zhang; Xianpeng Zhou; Binghan Sun; Na Wang

Addresses: School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China ' School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China ' School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China ' School of Electrical and Information Engineering, Tianjin University, Tianjin, 300072, China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai, 200240, China ' School of Electrical Engineering and Automation, Tianjin Polytechnic University, Tianjin, 300387 China

Abstract: In this paper, an effective fuzzy adaptive fault-tolerant control (FTC) strategy is proposed for the six-DOF under-actuated model of a quadrotor UAV with actuator partial loss fault of effectiveness and saturation, accompanying with uncertain parameters and external disturbances. The hyperbolic tangent function is used to approximate the input saturation characteristics, and then transformed into the affine form of control input. For the unknown control gain caused by fault and saturation, Nussbaum technology is introduced to effectively avoid controller singularity problem. A fuzzy logic system is proposed to approximate the totally lumped unknown items resulted from uncertain parameters and external disturbances, besides faults and saturation. In the backstepping design process, the improved sliding mode filter and sliding mode control are respectively introduced to design fault-tolerant controllers for position and attitude dynamics to avoid the 'differential explosion' phenomenon and establish asymptotic stability. Simulation results demonstrate the power of the designed controllers.

Keywords: quadrotor UAV; FTC; fault-tolerant control; nonlinear control; Nussbaum; fuzzy logic system; actuator fault; input saturation.

DOI: 10.1504/IJSCIP.2019.101076

International Journal of System Control and Information Processing, 2019 Vol.3 No.1, pp.1 - 25

Received: 21 Mar 2018
Accepted: 29 Oct 2018

Published online: 19 Jul 2019 *

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