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Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks

Author

Listed:
  • Ngoc Phi Nguyen

    (Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea)

  • Nguyen Xuan Mung

    (Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea)

  • Le Nhu Ngoc Thanh Ha

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 143-747 (05006), Korea)

  • Tuan Tu Huynh

    (Department of Electrical Engineering, Yuan Ze University, No. 135, Yuandong Road, Zhongli, Taoyuan 320, Taiwan
    Department of Electrical Electronic and Mechanical Engineering, Lac Hong University, No. 10, Huynh Van Nghe Road, Bien Hoa, Dong Nai 810000, Vietnam)

  • Sung Kyung Hong

    (Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea)

Abstract

This study investigates the design of fault-tolerant control involving adaptive nonsingular fast terminal sliding mode control and neural networks. Unlike those of previous control strategies, the adaptive law of the investigated algorithm is considered in both continuous and discontinuous terms, which means that any disturbances, model uncertainties, and actuator faults can be simultaneously compensated for. First, a quadcopter model is presented under the conditions of disturbances and uncertainties. Second, normal adaptive nonsingular fast terminal sliding mode control is utilized to handle these disturbances. Thereafter, fault-tolerant control based on adaptive nonsingular fast terminal sliding mode control and neural network approximation is presented, which can handle the actuator faults, model uncertainties, and disturbances. For each controller design, the Lyapunov function is applied to validate the robustness of the investigated method. Finally, the effectiveness of the investigated control approach is presented via comparative numerical examples under different fault conditions and uncertainties.

Suggested Citation

  • Ngoc Phi Nguyen & Nguyen Xuan Mung & Le Nhu Ngoc Thanh Ha & Tuan Tu Huynh & Sung Kyung Hong, 2020. "Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks," Mathematics, MDPI, vol. 8(9), pages 1-17, September.
    • Handle: RePEc:gam:jmathe:v:8:y:2020:i:9:p:1541-:d:410944
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    References listed on IDEAS

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    1. Zhenhua Wang & Yi Shen & Xiaolei Zhang, 2014. "Actuator fault estimation for a class of nonlinear descriptor systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(3), pages 487-496.
    2. Ngoc Phi Nguyen & Sung Kyung Hong, 2018. "Fault-Tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach," Energies, MDPI, vol. 12(1), pages 1-15, December.
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    Cited by:

    1. Nguyen Xuan-Mung & Mehdi Golestani, 2022. "Smooth, Singularity-Free, Finite-Time Tracking Control for Euler–Lagrange Systems," Mathematics, MDPI, vol. 10(20), pages 1-18, October.

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