Open AccessInterpolated reference model based fault tolerant sliding mode control for an octorotor
Author(s) -
Vile Liam,
Alwi Halim,
Edwards Christopher
Publication year - 2022
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/cth2.12244
Subject(s) - control theory (sociology) , reference model , sliding mode control , computer science , mode (computer interface) , rotor (electric) , fault tolerance , engineering , control (management) , nonlinear system , control engineering , artificial intelligence , mechanical engineering , physics , software engineering , quantum mechanics , operating system , distributed computing
In this paper, a quasi‐linear parameter varying sliding mode control allocation law is proposed for the fault tolerant control of an octorotor. In the event of rotor faults/failures, an allocation law redistributes the control effort among the remaining healthy rotors. The sliding mode control law is designed to guarantee asymptotic tracking of a reference model which is tuned on‐line, through an interpolated feedback gain, to ensure that the control signals remain within their saturation limits. A method for designing the parameterised feedback gain is proposed which is shown to maximise a defined stability criteria whilst preventing undesirable performance characteristics in the reference model. The proposed scheme is tested on a non‐linear octorotor model in the presence of severe rotor failures and uncertainty/disturbances.