Fixed-time anti-saturation and fault-tolerant control for quadrotor UAVs using event-trigger adaptive barrier sliding...

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering
• Fault-Tolerant Control

Background:

• Quadrotor Unmanned Aerial Vehicles (UAVs) are susceptible to actuator faults, input saturation, and external disturbances, compromising stability and performance.
• Conventional Sliding Mode Control (SMC) methods often suffer from chattering, leading to wear and increased energy consumption.
• Ensuring robust control and energy efficiency in UAVs under adverse conditions is critical for mission success.

Purpose of the Study:

• To propose an Adaptive Barrier Nonsingular Fixed-Time Sliding Mode Control (ABNFTSMC) scheme for quadrotor UAVs.
• To address challenges including actuator faults, input saturation, and external disturbances.
• To enhance energy efficiency and reduce control signal chattering.

Main Methods:

• Implementation of a Fault Detection and Isolation (FDI) unit to identify and manage rotor failures.
• Utilization of a Virtual Controller (VC) to compensate for actuator instability using inputs from healthy actuators.
• Integration of a Barrier Function (BF) technique for stable operation under significant disturbances.
• Employment of an Event-Triggered (ET) mechanism for adaptive, energy-efficient control.
• Substitution of the sign function with a hyperbolic tangent (HT) function to mitigate chattering.

Main Results:

• The ABNFTSMC scheme effectively compensates for actuator faults, input saturation, and bounded disturbances.
• The Event-Triggered mechanism significantly improves energy efficiency by adapting control actions.
• Chattering is substantially reduced through the use of the hyperbolic tangent function, extending component lifespan.
• The controller demonstrates fast convergence and excellent tracking performance, validated by theoretical analysis and simulations.

Conclusions:

• The proposed ABNFTSMC offers a robust, energy-efficient solution for UAV control under fault and disturbance conditions.
• The method enhances system reliability and longevity by minimizing chattering and optimizing power consumption.
• This approach provides a well-configured, power-saving strategy for UAVs, ensuring stable flight and precise control.