Fault-tolerant control of robust global fast terminal sliding mode formation for multi-quadrotor UAV
A fault-tolerant control method of robust global fast terminal sliding mode based on an ex-tended state observer is designed to address the issues of external environment interference,model-ing coupling factors,and actuator faults affecting the leader of a multi-quadrotor UAV flying in for-mation.A quadrotor UAV model is constructed to incorporate external environment interference and actuator failure,which are estimated by an extended state observer.The extended state observer is used to evaluate the disturbances,coupling effects and faults.To compensate for these factors,a fault-tolerant controller of robust global fast terminal sliding mode is employed.In order to improve the system response speed and reduce buffeting,a continuous function with relay characteristics is introduced into the controller design.By combining the leader-follower method with the sliding mode control theory,a formation cooperative controller is designed to ensure the successful completion of flight task by the UAV formation.Simulation results demonstrate the excellent fault tolerance per-formance of the proposed method.
quadrotor UAVactuator failureextended state observerrobust global fast terminal sliding mode controlformation cooperative control
NETL
NSTL
万方数据
