Nguyen Ngoc P, Pitakwachara Phongsaen
Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, Bangkok, 10330, Thailand.
Sci Rep. 2024 May 11;14(1):10786. doi: 10.1038/s41598-024-61273-2.
The article presents an active fault-tolerant control scheme with an integral terminal sliding mode controller for the UAV systems. This scheme effectively addresses saturation issues, disturbances, and sensor and actuator faults. Initially, the quadcopter UAV's model is represented in state space form. Subsequently, an augmented system incorporating auxiliary states from sensor faults is developed. An adaptive sliding mode observer is proposed for estimating the actuator and sensor faults. The integral terminal sliding mode fault-tolerant control, designed for altitude and attitude regulation, relies on fault estimation data. In contrast, a cascade proportional-integral-derivative (PID) controller is employed for position control. Simulation results demonstrate the superiority of the proposed method over existing control algorithms.
本文提出了一种用于无人机系统的带有积分终端滑模控制器的主动容错控制方案。该方案有效地解决了饱和问题、干扰以及传感器和执行器故障。首先，四旋翼无人机的模型以状态空间形式表示。随后，开发了一个包含来自传感器故障的辅助状态的增广系统。提出了一种自适应滑模观测器来估计执行器和传感器故障。为高度和姿态调节设计的积分终端滑模容错控制依赖于故障估计数据。相比之下，位置控制采用级联比例积分微分（PID）控制器。仿真结果表明了所提方法相对于现有控制算法的优越性。
