IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v10y2022i16p3009-d893364.html
   My bibliography  Save this article

Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs

Author

Listed:
  • Amin Najafi

    (Department of Electrical Engineering, University of Zanjan, Zanjan 45195-313, Iran
    Amin Najafi and Mai The Vu are the first authors; These authors contributed equally to this work.)

  • Mai The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
    Amin Najafi and Mai The Vu are the first authors; These authors contributed equally to this work.)

  • Saleh Mobayen

    (Future Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, Taiwan)

  • Jihad H. Asad

    (Department of Physics, Faculty of Applied sciences, Palestine Technical University, Tulkarm P.O. Box 7, Palestine)

  • Afef Fekih

    (Department of Electrical and Computer Engineering, University of Louisiana at Lafayette, Lafayette, LA 70504, USA)

Abstract

This paper proposes an adaptive barrier fast terminal sliding mode control (ABFTSMC) approach for quadrotor unmanned aerial vehicles (UAV). Its main objectives are to mitigate the external disturbances, parametric uncertainties, and actuator faults. An adaptive barrier function is considered in the design to ensure the finite-time convergence of the output variables to a predefined locality of zero, independent of the disturbance bounds. A fast terminal sliding mode control (FTSMC) approach is designed to speed up the convergence rate in both reaching and sliding phases. The design considers hyperbolic tangent functions in the adaptive control law to drastically reduce the chattering effect, typically associated with the standard SMC. The performance of the proposed approach was assessed using a quadrotor UAV subject to external disturbances and sudden actuator faults. The obtained results show that the trajectory and the sliding surface converge to the origin in a finite time, without being affected by the high disturbance and actuator faults. In this method, due to the substitution of the discontinuous function by the hyperbolic tangent function, the chattering effect has also been highly reduced.

Suggested Citation

  • Amin Najafi & Mai The Vu & Saleh Mobayen & Jihad H. Asad & Afef Fekih, 2022. "Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs," Mathematics, MDPI, vol. 10(16), pages 1-22, August.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:16:p:3009-:d:893364
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/10/16/3009/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/10/16/3009/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Kamran Naseri & Mai The Vu & Saleh Mobayen & Amin Najafi & Afef Fekih, 2022. "Design of Linear Matrix Inequality-Based Adaptive Barrier Global Sliding Mode Fault Tolerant Control for Uncertain Systems with Faulty Actuators," Mathematics, MDPI, vol. 10(13), pages 1-14, June.
    2. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Afef Fekih & Saleh Mobayen, 2022. "Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints," Mathematics, MDPI, vol. 10(10), pages 1-16, May.
    3. Afef Fekih & Saleh Mobayen & Chih-Chiang Chen, 2021. "Adaptive Robust Fault-Tolerant Control Design for Wind Turbines Subject to Pitch Actuator Faults," Energies, MDPI, vol. 14(6), pages 1-13, March.
    4. Luis Arturo Soriano & José de Jesús Rubio & Eduardo Orozco & Daniel Andres Cordova & Genaro Ochoa & Ricardo Balcazar & David Ricardo Cruz & Jesus Alberto Meda-Campaña & Alejandro Zacarias & Guadalupe , 2021. "Optimization of Sliding Mode Control to Save Energy in a SCARA Robot," Mathematics, MDPI, vol. 9(24), pages 1-16, December.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Liyin Zhang & Yinlong Hou & Hui Liu & Dafeng Tang & Long Li, 2023. "Prescribed Performance Fault-Tolerant Tracking Control of Uncertain Robot Manipulators with Integral Sliding Mode," Mathematics, MDPI, vol. 11(11), pages 1-20, May.
    2. Anh Tuan Vo & Thanh Nguyen Truong & Hee-Jun Kang, 2023. "Fixed-Time RBFNN-Based Prescribed Performance Control for Robot Manipulators: Achieving Global Convergence and Control Performance Improvement," Mathematics, MDPI, vol. 11(10), pages 1-25, May.
    3. Nguyen Xuan-Mung & Mehdi Golestani & Sung Kyung Hong, 2023. "Constrained Nonsingular Terminal Sliding Mode Attitude Control for Spacecraft: A Funnel Control Approach," Mathematics, MDPI, vol. 11(1), pages 1-23, January.

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Yu Li & Liang Wang, 2022. "Kinematic Model and Redundant Space Analysis of 4-DOF Redundant Robot," Mathematics, MDPI, vol. 10(4), pages 1-17, February.
    2. Xiaoyu Yang & Haisheng Yu, 2023. "Optimized Cooperative Control of Error Port-Controlled Hamiltonian and Adaptive Backstepping Sliding Mode for a Multi-Joint Industrial Robot," Mathematics, MDPI, vol. 11(6), pages 1-20, March.
    3. Andrej Sarjaš & Dušan Gleich, 2022. "Toward Embedded System Resources Relaxation Based on the Event-Triggered Feedback Control Approach," Mathematics, MDPI, vol. 10(4), pages 1-18, February.
    4. Yashar Mousavi & Geraint Bevan & Ibrahim Beklan Küçükdemiral & Afef Fekih, 2021. "Maximum Power Extraction from Wind Turbines Using a Fault-Tolerant Fractional-Order Nonsingular Terminal Sliding Mode Controller," Energies, MDPI, vol. 14(18), pages 1-16, September.
    5. Fadi Alyoussef & Ahmad Akrad & Rabia Sehab & Cristina Morel & Ibrahim Kaya, 2022. "Velocity Sensor Fault-Tolerant Controller for Induction Machine Using Intelligent Voting Algorithm," Energies, MDPI, vol. 15(9), pages 1-18, April.
    6. Masoud Chatavi & Mai The Vu & Saleh Mobayen & Afef Fekih, 2022. "H ∞ Robust LMI-Based Nonlinear State Feedback Controller of Uncertain Nonlinear Systems with External Disturbances," Mathematics, MDPI, vol. 10(19), pages 1-19, September.
    7. Hu, Yifan & Liu, Wenhui & Liu, Guobao, 2022. "Adaptive finite‐time event‐triggered control for uncertain nonlinearly parameterized systems with unknown control direction and actuator failures," Applied Mathematics and Computation, Elsevier, vol. 435(C).
    8. Ayman A. Aly & Mai The Vu & Fayez F. M. El-Sousy & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le & Saleh Mobayen, 2022. "Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer," Mathematics, MDPI, vol. 10(17), pages 1-19, September.
    9. Saeedreza Jadidi & Hamed Badihi & Youmin Zhang, 2021. "Fault-Tolerant Cooperative Control of Large-Scale Wind Farms and Wind Farm Clusters," Energies, MDPI, vol. 14(21), pages 1-29, November.
    10. Li, Jinghan & Zhao, Jun, 2022. "Bumpless transfer based event-triggered control for switched linear systems with state-dependent switching," Applied Mathematics and Computation, Elsevier, vol. 430(C).
    11. Xiaodong Lv & Guangming Zhang & Gang Wang & Mingxiang Zhu & Zhihan Shi & Zhiqing Bai & Igor V. Alexandrov, 2022. "Numerical Analyses and a Nonlinear Composite Controller for a Real-Time Ground Aerodynamic Heating Simulation of a Hypersonic Flying Object," Mathematics, MDPI, vol. 10(16), pages 1-35, August.
    12. Kamran Naseri & Mai The Vu & Saleh Mobayen & Amin Najafi & Afef Fekih, 2022. "Design of Linear Matrix Inequality-Based Adaptive Barrier Global Sliding Mode Fault Tolerant Control for Uncertain Systems with Faulty Actuators," Mathematics, MDPI, vol. 10(13), pages 1-14, June.
    13. Afef Fekih & Hamed Habibi & Silvio Simani, 2022. "Fault Diagnosis and Fault Tolerant Control of Wind Turbines: An Overview," Energies, MDPI, vol. 15(19), pages 1-21, September.
    14. Mohamed Elgbaily & Fatih Anayi & Mussaab M. Alshbib, 2022. "A Combined Control Scheme of Direct Torque Control and Field-Oriented Control Algorithms for Three-Phase Induction Motor: Experimental Validation," Mathematics, MDPI, vol. 10(20), pages 1-33, October.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:10:y:2022:i:16:p:3009-:d:893364. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.