Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer

In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and distur...
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Autor*in:	Pu Yang [verfasserIn] Ziwei Shen [verfasserIn] Yu Ding [verfasserIn] Kejia Feng [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs)

Übergeordnetes Werk:	In: Drones - MDPI AG, 2018, 6(2022), 9, p 233
Übergeordnetes Werk:	volume:6 ; year:2022 ; number:9, p 233

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/drones6090233

Katalog-ID:	DOAJ08483465X

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520			\|a In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable.
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allfields	10.3390/drones6090233 doi (DE-627)DOAJ08483465X (DE-599)DOAJ707bcf5aadf24467989b52010f6f2eda DE-627 ger DE-627 rakwb eng TL1-4050 Pu Yang verfasserin aut Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable. fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs) Motor vehicles. Aeronautics. Astronautics Ziwei Shen verfasserin aut Yu Ding verfasserin aut Kejia Feng verfasserin aut In Drones MDPI AG, 2018 6(2022), 9, p 233 (DE-627)1025498356 2504446X nnns volume:6 year:2022 number:9, p 233 https://doi.org/10.3390/drones6090233 kostenfrei https://doaj.org/article/707bcf5aadf24467989b52010f6f2eda kostenfrei https://www.mdpi.com/2504-446X/6/9/233 kostenfrei https://doaj.org/toc/2504-446X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2022 9, p 233
spelling	10.3390/drones6090233 doi (DE-627)DOAJ08483465X (DE-599)DOAJ707bcf5aadf24467989b52010f6f2eda DE-627 ger DE-627 rakwb eng TL1-4050 Pu Yang verfasserin aut Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable. fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs) Motor vehicles. Aeronautics. Astronautics Ziwei Shen verfasserin aut Yu Ding verfasserin aut Kejia Feng verfasserin aut In Drones MDPI AG, 2018 6(2022), 9, p 233 (DE-627)1025498356 2504446X nnns volume:6 year:2022 number:9, p 233 https://doi.org/10.3390/drones6090233 kostenfrei https://doaj.org/article/707bcf5aadf24467989b52010f6f2eda kostenfrei https://www.mdpi.com/2504-446X/6/9/233 kostenfrei https://doaj.org/toc/2504-446X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2022 9, p 233
allfields_unstemmed	10.3390/drones6090233 doi (DE-627)DOAJ08483465X (DE-599)DOAJ707bcf5aadf24467989b52010f6f2eda DE-627 ger DE-627 rakwb eng TL1-4050 Pu Yang verfasserin aut Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable. fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs) Motor vehicles. Aeronautics. Astronautics Ziwei Shen verfasserin aut Yu Ding verfasserin aut Kejia Feng verfasserin aut In Drones MDPI AG, 2018 6(2022), 9, p 233 (DE-627)1025498356 2504446X nnns volume:6 year:2022 number:9, p 233 https://doi.org/10.3390/drones6090233 kostenfrei https://doaj.org/article/707bcf5aadf24467989b52010f6f2eda kostenfrei https://www.mdpi.com/2504-446X/6/9/233 kostenfrei https://doaj.org/toc/2504-446X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2022 9, p 233
allfieldsGer	10.3390/drones6090233 doi (DE-627)DOAJ08483465X (DE-599)DOAJ707bcf5aadf24467989b52010f6f2eda DE-627 ger DE-627 rakwb eng TL1-4050 Pu Yang verfasserin aut Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable. fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs) Motor vehicles. Aeronautics. Astronautics Ziwei Shen verfasserin aut Yu Ding verfasserin aut Kejia Feng verfasserin aut In Drones MDPI AG, 2018 6(2022), 9, p 233 (DE-627)1025498356 2504446X nnns volume:6 year:2022 number:9, p 233 https://doi.org/10.3390/drones6090233 kostenfrei https://doaj.org/article/707bcf5aadf24467989b52010f6f2eda kostenfrei https://www.mdpi.com/2504-446X/6/9/233 kostenfrei https://doaj.org/toc/2504-446X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2022 9, p 233
allfieldsSound	10.3390/drones6090233 doi (DE-627)DOAJ08483465X (DE-599)DOAJ707bcf5aadf24467989b52010f6f2eda DE-627 ger DE-627 rakwb eng TL1-4050 Pu Yang verfasserin aut Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable. fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs) Motor vehicles. Aeronautics. Astronautics Ziwei Shen verfasserin aut Yu Ding verfasserin aut Kejia Feng verfasserin aut In Drones MDPI AG, 2018 6(2022), 9, p 233 (DE-627)1025498356 2504446X nnns volume:6 year:2022 number:9, p 233 https://doi.org/10.3390/drones6090233 kostenfrei https://doaj.org/article/707bcf5aadf24467989b52010f6f2eda kostenfrei https://www.mdpi.com/2504-446X/6/9/233 kostenfrei https://doaj.org/toc/2504-446X Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 6 2022 9, p 233
language	English
source	In Drones 6(2022), 9, p 233 volume:6 year:2022 number:9, p 233
sourceStr	In Drones 6(2022), 9, p 233 volume:6 year:2022 number:9, p 233
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs) Motor vehicles. Aeronautics. Astronautics
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container_title	Drones
authorswithroles_txt_mv	Pu Yang @@aut@@ Ziwei Shen @@aut@@ Yu Ding @@aut@@ Kejia Feng @@aut@@
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callnumber-first	T - Technology
author	Pu Yang
spellingShingle	Pu Yang misc TL1-4050 misc fault-tolerant control (FTC) misc nonsingular fast terminal sliding mode control (NFTSMC) misc UAV misc FAFE misc Markov jump nonlinear systems (MJNSs) misc Motor vehicles. Aeronautics. Astronautics Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer
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topic_title	TL1-4050 Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer fault-tolerant control (FTC) nonsingular fast terminal sliding mode control (NFTSMC) UAV FAFE Markov jump nonlinear systems (MJNSs)
topic	misc TL1-4050 misc fault-tolerant control (FTC) misc nonsingular fast terminal sliding mode control (NFTSMC) misc UAV misc FAFE misc Markov jump nonlinear systems (MJNSs) misc Motor vehicles. Aeronautics. Astronautics
topic_unstemmed	misc TL1-4050 misc fault-tolerant control (FTC) misc nonsingular fast terminal sliding mode control (NFTSMC) misc UAV misc FAFE misc Markov jump nonlinear systems (MJNSs) misc Motor vehicles. Aeronautics. Astronautics
topic_browse	misc TL1-4050 misc fault-tolerant control (FTC) misc nonsingular fast terminal sliding mode control (NFTSMC) misc UAV misc FAFE misc Markov jump nonlinear systems (MJNSs) misc Motor vehicles. Aeronautics. Astronautics
format_facet	Elektronische Aufsätze Aufsätze Elektronische Ressource
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title	Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer
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title_full	Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer
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title_sort	fast terminal sliding mode fault-tolerant control for markov jump nonlinear systems based on an adaptive observer
callnumber	TL1-4050
title_auth	Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer
abstract	In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable.
abstractGer	In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable.
abstract_unstemmed	In this paper, a new adaptive observer is proposed to estimate the actuator fault and disturbance of a quadrotor UAV system with actuator failure and disturbance. Based on this, a nonsingular fast terminal sliding mode controller is designed. Firstly, according to the randomness of faults and disturbances, the UAV system under faults and disturbances is regarded as one of the Markov jump nonlinear systems (MJNSs). Secondly, an adaptive observer is designed to simultaneously observe the system state, fault, and disturbance. In order to improve the precision, the fast adaptive fault estimation (FAFE) algorithm is adopted in the adaptive observer. In addition, a quasi-one-sided Lipschitz condition is used to deal with the nonlinear term, which relaxes the condition and contains more nonlinear information. Finally, a nonsingular fast terminal sliding mode controller is designed for fault-tolerant control of the system. The simulation results show that the faults and disturbances can be observed successfully, and that the system is stochastic stable.
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container_issue	9, p 233
title_short	Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer
url	https://doi.org/10.3390/drones6090233 https://doaj.org/article/707bcf5aadf24467989b52010f6f2eda https://www.mdpi.com/2504-446X/6/9/233 https://doaj.org/toc/2504-446X
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author2	Ziwei Shen Yu Ding Kejia Feng
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doi_str	10.3390/drones6090233
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Fast Terminal Sliding Mode Fault-Tolerant Control for Markov Jump Nonlinear Systems Based on an Adaptive Observer

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