Sliding mode observer-based active fault tolerant control for UAVs formation

2018 3rd International Conference on Insulating Materials, Material Application and Electrical Engineering

材料科学;无线电电子学;电工学

Yin, Lei^1 ; Liu, Jianwei^1 ; Yang, Pu^1 ; Shi, Junpeng^1

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing

211100, China^1

关键词: Active fault;    Active fault tolerant control;    Actuator fault;    Fault tolerant control;    Formation systems;    Nominal controller;    Outer-loop controller;    Sliding mode observers;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/452/4/042068/pdf
DOI  :  10.1088/1757-899X/452/4/042068

学科分类：材料科学（综合）

来源: IOP

【 摘 要 】

An active fault tolerant controller for unmanned aerial vehicles (UAVs) formation in the presence of actuator fault is developed in this paper. First, an outer loop controller is designed to ensure the stability of the whole UAVs formation stable, and an inner loop controller is designed to make UAV tracking the desired outer loop signal. Considering the occurrence of actuator fault, an active fault tolerant controller is developed based on the nominal controller to eliminate the influence of the actuator faults and guarantee the stability of the UAVs formation system. A sliding mode observer is used to reconstruct the states and actuator faults. At last, the effect of actuator faults on the system is analysed, and the validity of the method is proved by MATLAB.