Research On Reliability Control Of Quadrotor Based On Sliding Mode Control

Quadrotors have been applied in many fields and have broad prospects,which benefit from its simple structure,compact size and flexible operation.However,quadrotors are susceptible to disturbances and actuator faults during flight,which lead to the reduction of flight quality.This paper considers quadrotors affected by external disturbances and actuator faults,designs a reliability control scheme for quadrotors based on sliding mode control approach to enhance robustness of system and ensure the safety of air-frame.Main work accomplished in this paper are as follows:Firstly,the background and significance of this topic are introduced,the development status of anti-disturbance and fault-tolerant control of quadrotors are summarized,its structure and flight principle are introduced,and the mathematical model of a quadrotor is established by dynamics and kinematics analysis,followed by the fault model of a quadrotor,the development and use of simulation interaction software and the theoretical knowledge related to sliding mode control.Then,a non-singular fast terminal sliding mode control method based on an improved super-twisting algorithm for attitude and position subsystems is designed for quadrotors affected by external disturbances and uncertainties.Through comparative simulations,it is verified that the proposed control strategy enables quadrotors to track target trajectory quickly and accurately.Thirdly,an adaptive fault-tolerant control scheme is proposed for quadrotors with actuator bias faults and external disturbances.By designing an adaptive strategy to estimate faults information online,position and attitude subsystem controllers based on super-twisting sliding mode are designed by using the idea of double closed loop.Simulation results show that the control scheme is able to accurately track desired signals under multiple faults with superior fault tolerance performance.Finally,quadrotors are further considered for the occurrence of actuator efficiency loss faults,bias faults,and external perturbations.A fault-tolerant control strategy based on non-singular fast terminal sliding mode is proposed.Based on the idea of inner and outer loops,adaptive fault-tolerant controllers are designed respectively.Comparative simulation show that controllers have excellent fault-tolerant control performance and can maintain the trajectory tracking ability of quadrotors in case of fault...