10:00 - 12:00 | Wed 22 Aug | Schackenborg | WeA6
This paper deals with the design and analysis of an adaptive fault tolerant control approach for a quadrotor Unmanned Aerial Vehicle (UAV) subject to Loss of Actuator Effectiveness (LOE) faults. The FTC approach is based on a Super-Twisting (STW) algorithm with an Integral Terminal sliding mode controller. The controllers parameters were dynamically adapted to ensure proper handling of unmatched perturbations and fault uncertainties. Simulation results were carried out to highlight the controllers ability to mitigate actuator faults without compromising systems performance. Excellent tracking performance and strong chattering attenuation are among the key features of the proposed design.
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