CIOMP OpenIR
Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control
Fu, Chunyang1; Tian, Yantao1,2; Peng, Cheng3; Gong, Xun3; Zhang, Lei1; Guo, Xiaojun1
2019
Source PublicationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
ISSN0954-4100
Volume233Issue:1Pages:180-196
Corresponding AuthorTian, Yantao(tianyt@jlu.edu.cn)
AbstractThis paper deals with the controllers design using a novel siding mode control and proportional-derivative control for the trajectory tracking problem of a new multi-rotor aircraft, which experiences angular velocity sensor faults and external disturbances. The control system is divided into two parts: the inner loop for attitude subsystem and outer loop for position subsystem. For the inner loop, the angular velocity sensor faults, including bias, drift, loss of accuracy, and loss of effectiveness are considered as equivalent mismatched disturbances, while the system internal coupling, nonlinearity, and external disturbances are considered as equivalent matched disturbances. A novel sliding mode control approach is proposed for inner loop controller design, which includes a nonlinear disturbance observer to estimate both mismatched and matched disturbances, a novel switching surface based on the estimation of the mismatched disturbance to counteract its impact, a double power reaching law to attenuate the chattering problem, and a compensation for the matched disturbance to reduce the controller gains. The sensor faults are handled without fault detection and controller reconfiguration, making the method require less computation and easy implementation. The proposed method enhances the robustness without sacrificing the nominal properties. For outer loop, the proportional-derivative approach is used to design the virtual controller. The closed-loop system stability is proved by the Lyapunov theory. Finally, various simulation experiments are shown to validate the effectiveness, robustness, and the superiority of the proposed flight control scheme.
KeywordMulti-rotor aircraft sensor fault sliding mode control mismatched disturbance nonlinear disturbance observer chattering attenuation
DOI10.1177/0954410017731590
WOS KeywordMISMATCHED UNCERTAIN SYSTEMS ; FLIGHT CONTROL ; SURFACE ; DESIGN ; HELICOPTER ; VEHICLE
Indexed BySCI
Language英语
Funding ProjectNational Natural Science Foundation of China[11372309] ; National Natural Science Foundation of China[61304017] ; Science & Technology Development Project of Jilin Province, China[20150204074GX] ; Jilin University 985 Project'' Engineering Bionic Sci ; National Natural Science Foundation of China[11372309] ; National Natural Science Foundation of China[61304017] ; Science & Technology Development Project of Jilin Province, China[20150204074GX] ; Jilin University 985 Project'' Engineering Bionic Sci
Funding OrganizationNational Natural Science Foundation of China ; Science & Technology Development Project of Jilin Province, China ; Jilin University 985 Project'' Engineering Bionic Sci
WOS Research AreaEngineering
WOS SubjectEngineering, Aerospace ; Engineering, Mechanical
WOS IDWOS:000454948300014
PublisherSAGE PUBLICATIONS LTD
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ciomp.ac.cn/handle/181722/60114
Collection中国科学院长春光学精密机械与物理研究所
Corresponding AuthorTian, Yantao
Affiliation1.Jilin Univ, Coll Commun Engn, Changchun, Jilin, Peoples R China
2.Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun, Jilin, Peoples R China
3.Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, Changchun, Jilin, Peoples R China
Recommended Citation
GB/T 7714
Fu, Chunyang,Tian, Yantao,Peng, Cheng,et al. Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING,2019,233(1):180-196.
APA Fu, Chunyang,Tian, Yantao,Peng, Cheng,Gong, Xun,Zhang, Lei,&Guo, Xiaojun.(2019).Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING,233(1),180-196.
MLA Fu, Chunyang,et al."Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 233.1(2019):180-196.
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