An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors

Romeo Falcon, Hector Rios, Alejandro Dzul

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

In this paper, an actuator fault accommodation controller is developed to solve the trajectory tracking problem in Quad-Rotors under the effects of faults in multiple actuators and external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault accommodation approach is composed of a fault identification module and a baseline robust-nominal controller. The fault identification module is based on a finite-time sliding-mode observer that provides a set of residuals using only the output information. The fault accommodation strategy uses fault identification to partially compensate the actuator faults allowing the usage of a baseline robust-nominal controller that deals with the external disturbances. Numerical simulations show the performance of the proposed control strategy.

Idioma originalInglés
Título de la publicación alojada60th IEEE Conference on Decision and Control, CDC 2021
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas7100-7105
Número de páginas6
ISBN (versión digital)9781665436595
DOI
EstadoPublicada - 2021
Evento60th IEEE Conference on Decision and Control, CDC 2021 - Austin, Estados Unidos
Duración: 13 dic. 202117 dic. 2021

Serie de la publicación

NombreProceedings of the IEEE Conference on Decision and Control
Volumen2021-December
ISSN (versión impresa)0743-1546
ISSN (versión digital)2576-2370

Conferencia

Conferencia60th IEEE Conference on Decision and Control, CDC 2021
País/TerritorioEstados Unidos
CiudadAustin
Período13/12/2117/12/21

Nota bibliográfica

Publisher Copyright:
© 2021 IEEE.

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