Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control

doi:10.1177/0954410017731590

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control
	Guo, Xiaojun 3; Zhang, Lei 3; Gong, Xun 1; Peng, Cheng 1; Tian, Yantao 2,3; Fu, Chunyang 3
刊名	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
	2019
卷号	233 期号:1 页码:180-196
关键词	Multi-rotor aircraft sensor fault sliding mode control mismatched disturbance nonlinear disturbance observer chattering attenuation
ISSN号	0954-4100
DOI	10.1177/0954410017731590
通讯作者	Tian, Yantao(tianyt@jlu.edu.cn)
英文摘要	This 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.
资助项目	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
WOS关键词	MISMATCHED UNCERTAIN SYSTEMS ; FLIGHT CONTROL ; SURFACE ; DESIGN ; HELICOPTER ; VEHICLE
WOS研究方向	Engineering
语种	英语
出版者	SAGE PUBLICATIONS LTD
WOS记录号	WOS:000454948300014
资助机构	National Natural Science Foundation of China ; Science & Technology Development Project of Jilin Province, China ; Jilin University 985 Project'' Engineering Bionic Sci
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/60113]
专题	中国科学院长春光学精密机械与物理研究所
通讯作者	Tian, Yantao
作者单位	1.Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, Changchun, Jilin, Peoples R China 2.Jilin Univ, Key Lab Bion Engn, Minist Educ, Changchun, Jilin, Peoples R China 3.Jilin Univ, Coll Commun Engn, Changchun, Jilin, Peoples R China
推荐引用方式 GB/T 7714	Guo, Xiaojun,Zhang, Lei,Gong, Xun,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	Guo, Xiaojun,Zhang, Lei,Gong, Xun,Peng, Cheng,Tian, Yantao,&Fu, Chunyang.(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	Guo, Xiaojun,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.