Search

An adaptive sliding mode fault‐tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle in this article to accommodate actuator faults and model uncertainties. First, a new reaching law is proposed, with which a sliding mode control (SMC) law is constructed. The proposed reaching law is made up of a sliding variable and the distance between it and a designated boundary layer, and it can effectively suppress the unexpected control chattering while preserving the necessary system tracking performance. Then, an adaptive SMC scheme is proposed to further solve the fault and uncertainty compensation problem. The proposed adaptation law helps to prevent overestimation of the adaptive control parameters, as well as avoiding control chattering. Finally, a number of comparative simulation tests are carried out to validate the effectiveness and superiority of the proposed control strategy. The demonstrated quantitative comparison results confirm its advantages. [ABSTRACT FROM AUTHOR]

This paper presents an adaptive reconfiguration control for linear systems with both unknown actuator failures and disturbances. The model uncertainties are included to present additive disturbances which are unknown but bounded. By using set-membership estimation technique for such a problem, two interval observers are developed to estimate the system states subject to model uncertainties. Based on these state estimates, an adaptive state feedback reconfiguration controller is proposed to compensate actuator failures for achieving system states tracking to those of reference model under the framework of model reference adaptive control approach. The effectiveness of the proposed method is demonstrated through simulation results. Copyright © 2015 John Wiley & Sons, Ltd. [ABSTRACT FROM AUTHOR]