|Improved Adaptive Fuzzy Sliding Mode Controller for Robust Fault Tolerant of a Quadrotor
Saeed Barghandan, Mohammad Ali Badamchizadeh*, and Mohammad Reza Jahed-Motlagh
International Journal of Control, Automation, and Systems, vol. 15, no. 1, pp.427-441, 2017
Abstract : "In this paper, a model for a Quadrotor helicopter has been considered when a fault has been occurred
in its actuators. The sliding mode control technique has been utilized as one of a robust passive fault tolerant
control methods to control the Quadrotor’s attitude. An adaptive fuzzy system, as a compensator has been used to
compensate the estimation error of nonlinear functions and faulty parts. Although increasing the adaptation rate
enhances the responding speed, it is accompanied by closed loop system instability. In order to avoid instability and
to increase the robustness of the closed loop system, in this paper, a new parallel fuzzy system has been proposed
along with a main fuzzy system. The adaptation rules of the main and parallel fuzzy systems were extracted from
Lyapunov’s stability theory. During the numerical simulation, the efficiency of the proposed method has been shown
against actuator faults."
Adaptive fuzzy sliding mode control, fault tolerant control, quadrotor, trajectory tracking control.
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