A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties

Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Wang, Ban [verfasserIn] Zhang, Youmin Zhang, Wei

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	Actuator fault composite adaptive fault-tolerant control external disturbance model uncertainty quadrotor UAV

Anmerkung:	© The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022

Übergeordnetes Werk:	Enthalten in: Journal of systems science and complexity - Boston, MA [u.a] : Springer, 2006, 35(2022), 1 vom: Feb., Seite 81-104
Übergeordnetes Werk:	volume:35 ; year:2022 ; number:1 ; month:02 ; pages:81-104

Links:	Volltext

DOI / URN:	10.1007/s11424-022-1030-y

Katalog-ID:	SPR050468839

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245	1	2	\|a A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
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520			\|a Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results.
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700	1		\|a Zhang, Youmin \|4 aut
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912			\|a GBV_ILN_151
912			\|a GBV_ILN_152
912			\|a GBV_ILN_161
912			\|a GBV_ILN_170
912			\|a GBV_ILN_171
912			\|a GBV_ILN_187
912			\|a GBV_ILN_213
912			\|a GBV_ILN_224
912			\|a GBV_ILN_230
912			\|a GBV_ILN_250
912			\|a GBV_ILN_281
912			\|a GBV_ILN_285
912			\|a GBV_ILN_293
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_636
912			\|a GBV_ILN_702
912			\|a GBV_ILN_2001
912			\|a GBV_ILN_2003
912			\|a GBV_ILN_2004
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2006
912			\|a GBV_ILN_2007
912			\|a GBV_ILN_2008
912			\|a GBV_ILN_2009
912			\|a GBV_ILN_2010
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2015
912			\|a GBV_ILN_2020
912			\|a GBV_ILN_2021
912			\|a GBV_ILN_2025
912			\|a GBV_ILN_2026
912			\|a GBV_ILN_2027
912			\|a GBV_ILN_2031
912			\|a GBV_ILN_2034
912			\|a GBV_ILN_2037
912			\|a GBV_ILN_2038
912			\|a GBV_ILN_2039
912			\|a GBV_ILN_2044
912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2055
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912			\|a GBV_ILN_2112
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matchkey_str	article:15597067:2022----::cmoiedpiealtlrnattdcnrloaudoouv
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allfields	10.1007/s11424-022-1030-y doi (DE-627)SPR050468839 (SPR)s11424-022-1030-y-e DE-627 ger DE-627 rakwb eng Wang, Ban verfasserin aut A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022 Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. Actuator fault (dpeaa)DE-He213 composite adaptive fault-tolerant control (dpeaa)DE-He213 external disturbance (dpeaa)DE-He213 model uncertainty (dpeaa)DE-He213 quadrotor UAV (dpeaa)DE-He213 Zhang, Youmin aut Zhang, Wei aut Enthalten in Journal of systems science and complexity Boston, MA [u.a] : Springer, 2006 35(2022), 1 vom: Feb., Seite 81-104 (DE-627)512299307 (DE-600)2235892-4 1559-7067 nnns volume:35 year:2022 number:1 month:02 pages:81-104 https://dx.doi.org/10.1007/s11424-022-1030-y lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 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_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 35 2022 1 02 81-104
spelling	10.1007/s11424-022-1030-y doi (DE-627)SPR050468839 (SPR)s11424-022-1030-y-e DE-627 ger DE-627 rakwb eng Wang, Ban verfasserin aut A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022 Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. Actuator fault (dpeaa)DE-He213 composite adaptive fault-tolerant control (dpeaa)DE-He213 external disturbance (dpeaa)DE-He213 model uncertainty (dpeaa)DE-He213 quadrotor UAV (dpeaa)DE-He213 Zhang, Youmin aut Zhang, Wei aut Enthalten in Journal of systems science and complexity Boston, MA [u.a] : Springer, 2006 35(2022), 1 vom: Feb., Seite 81-104 (DE-627)512299307 (DE-600)2235892-4 1559-7067 nnns volume:35 year:2022 number:1 month:02 pages:81-104 https://dx.doi.org/10.1007/s11424-022-1030-y lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 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_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 35 2022 1 02 81-104
allfields_unstemmed	10.1007/s11424-022-1030-y doi (DE-627)SPR050468839 (SPR)s11424-022-1030-y-e DE-627 ger DE-627 rakwb eng Wang, Ban verfasserin aut A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022 Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. Actuator fault (dpeaa)DE-He213 composite adaptive fault-tolerant control (dpeaa)DE-He213 external disturbance (dpeaa)DE-He213 model uncertainty (dpeaa)DE-He213 quadrotor UAV (dpeaa)DE-He213 Zhang, Youmin aut Zhang, Wei aut Enthalten in Journal of systems science and complexity Boston, MA [u.a] : Springer, 2006 35(2022), 1 vom: Feb., Seite 81-104 (DE-627)512299307 (DE-600)2235892-4 1559-7067 nnns volume:35 year:2022 number:1 month:02 pages:81-104 https://dx.doi.org/10.1007/s11424-022-1030-y lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 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_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 35 2022 1 02 81-104
allfieldsGer	10.1007/s11424-022-1030-y doi (DE-627)SPR050468839 (SPR)s11424-022-1030-y-e DE-627 ger DE-627 rakwb eng Wang, Ban verfasserin aut A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022 Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. Actuator fault (dpeaa)DE-He213 composite adaptive fault-tolerant control (dpeaa)DE-He213 external disturbance (dpeaa)DE-He213 model uncertainty (dpeaa)DE-He213 quadrotor UAV (dpeaa)DE-He213 Zhang, Youmin aut Zhang, Wei aut Enthalten in Journal of systems science and complexity Boston, MA [u.a] : Springer, 2006 35(2022), 1 vom: Feb., Seite 81-104 (DE-627)512299307 (DE-600)2235892-4 1559-7067 nnns volume:35 year:2022 number:1 month:02 pages:81-104 https://dx.doi.org/10.1007/s11424-022-1030-y lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 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_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 35 2022 1 02 81-104
allfieldsSound	10.1007/s11424-022-1030-y doi (DE-627)SPR050468839 (SPR)s11424-022-1030-y-e DE-627 ger DE-627 rakwb eng Wang, Ban verfasserin aut A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties 2022 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022 Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. Actuator fault (dpeaa)DE-He213 composite adaptive fault-tolerant control (dpeaa)DE-He213 external disturbance (dpeaa)DE-He213 model uncertainty (dpeaa)DE-He213 quadrotor UAV (dpeaa)DE-He213 Zhang, Youmin aut Zhang, Wei aut Enthalten in Journal of systems science and complexity Boston, MA [u.a] : Springer, 2006 35(2022), 1 vom: Feb., Seite 81-104 (DE-627)512299307 (DE-600)2235892-4 1559-7067 nnns volume:35 year:2022 number:1 month:02 pages:81-104 https://dx.doi.org/10.1007/s11424-022-1030-y lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_SPRINGER GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 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_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_120 GBV_ILN_138 GBV_ILN_150 GBV_ILN_151 GBV_ILN_152 GBV_ILN_161 GBV_ILN_170 GBV_ILN_171 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_250 GBV_ILN_281 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_636 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2031 GBV_ILN_2034 GBV_ILN_2037 GBV_ILN_2038 GBV_ILN_2039 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2057 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2093 GBV_ILN_2106 GBV_ILN_2107 GBV_ILN_2108 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2144 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2188 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2446 GBV_ILN_2470 GBV_ILN_2472 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_2548 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4246 GBV_ILN_4249 GBV_ILN_4251 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_4326 GBV_ILN_4328 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4336 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 AR 35 2022 1 02 81-104
language	English
source	Enthalten in Journal of systems science and complexity 35(2022), 1 vom: Feb., Seite 81-104 volume:35 year:2022 number:1 month:02 pages:81-104
sourceStr	Enthalten in Journal of systems science and complexity 35(2022), 1 vom: Feb., Seite 81-104 volume:35 year:2022 number:1 month:02 pages:81-104
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Actuator fault composite adaptive fault-tolerant control external disturbance model uncertainty quadrotor UAV
isfreeaccess_bool	false
container_title	Journal of systems science and complexity
authorswithroles_txt_mv	Wang, Ban @@aut@@ Zhang, Youmin @@aut@@ Zhang, Wei @@aut@@
publishDateDaySort_date	2022-02-01T00:00:00Z
hierarchy_top_id	512299307
id	SPR050468839
language_de	englisch
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author	Wang, Ban
spellingShingle	Wang, Ban misc Actuator fault misc composite adaptive fault-tolerant control misc external disturbance misc model uncertainty misc quadrotor UAV A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
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topic_title	A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties Actuator fault (dpeaa)DE-He213 composite adaptive fault-tolerant control (dpeaa)DE-He213 external disturbance (dpeaa)DE-He213 model uncertainty (dpeaa)DE-He213 quadrotor UAV (dpeaa)DE-He213
topic	misc Actuator fault misc composite adaptive fault-tolerant control misc external disturbance misc model uncertainty misc quadrotor UAV
topic_unstemmed	misc Actuator fault misc composite adaptive fault-tolerant control misc external disturbance misc model uncertainty misc quadrotor UAV
topic_browse	misc Actuator fault misc composite adaptive fault-tolerant control misc external disturbance misc model uncertainty misc quadrotor UAV
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title	A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
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title_full	A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
author_sort	Wang, Ban
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author_browse	Wang, Ban Zhang, Youmin Zhang, Wei
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doi_str_mv	10.1007/s11424-022-1030-y
title_sort	composite adaptive fault-tolerant attitude control for a quadrotor uav with multiple uncertainties
title_auth	A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
abstract	Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022
abstractGer	Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022
abstract_unstemmed	Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. The capabilities and advantages of the proposed control strategy are confirmed and verified by simulation results. © The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022
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title_short	A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties
url	https://dx.doi.org/10.1007/s11424-022-1030-y
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doi_str	10.1007/s11424-022-1030-y
up_date	2024-07-03T15:44:05.822Z
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fullrecord_marcxml	<?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01000naa a22002652 4500</leader><controlfield tag="001">SPR050468839</controlfield><controlfield tag="003">DE-627</controlfield><controlfield tag="005">20230507101813.0</controlfield><controlfield tag="007">cr uuu---uuuuu</controlfield><controlfield tag="008">230507s2022 xx \|\|\|\|\|o 00\| \|\|eng c</controlfield><datafield tag="024" ind1="7" ind2=" "><subfield code="a">10.1007/s11424-022-1030-y</subfield><subfield code="2">doi</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-627)SPR050468839</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(SPR)s11424-022-1030-y-e</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-627</subfield><subfield code="b">ger</subfield><subfield code="c">DE-627</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1=" " ind2=" "><subfield code="a">eng</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Wang, Ban</subfield><subfield code="e">verfasserin</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="2"><subfield code="a">A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="c">2022</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="a">Text</subfield><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="a">Computermedien</subfield><subfield code="b">c</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="a">Online-Ressource</subfield><subfield code="b">cr</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">© The Editorial Office of JSSC & Springer-Verlag GmbH Germany 2022</subfield></datafield><datafield tag="520" ind1=" " ind2=" "><subfield code="a">Abstract In this paper, a composite adaptive fault-tolerant control strategy is proposed for a quadrotor unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults, model uncertainties and external disturbances. By assuming knowledge of the bounds on external disturbances, a baseline sliding mode control is first designed to achieve the desired system tracking performance and retain insensitive to disturbances. Then, regarding actuator faults and model uncertainties of the quadrotor UAV, neural adaptive control schemes are constructed and incorporated into the baseline sliding mode control to deal with them. Moreover, in terms of unknown external disturbances, a disturbance observer is designed and synthesized with the control law to further improve the robustness of the proposed control strategy. Finally, a series of comparative simulation tests are conducted to validate the effectiveness of the proposed control strategy where a quadrotor UAV is subject to inertial moment variations and different level of actuator faults. 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A Composite Adaptive Fault-Tolerant Attitude Control for a Quadrotor UAV with Multiple Uncertainties

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