Unmanned Aerial Vehicle (UAV) mission success is highly dependent on the robust and reliable performance of individual UAVs. Therefore implementing fault tolerant control to prevent UAV catastrophic failure is critical. In this paper, a control strategy for a Quadrotor under actuator fault is considered. A Sliding Mode Controller (SMC) is used to control the quadrotor during nominal and fault conditions. The gains of the SMC are obtained through a Lyapunov stability analysis, and optimized through Particle Swarm Optimization (PSO). Simulations are presented to exhibit controller effectiveness during nominal and fault conditions.
- Dynamic Systems and Control Division
Particle Swarm Optimization Tuning of Fault Tolerant Sliding Mode Control for Quadrotor
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Khatiwada, S, McCormack, J, & Thein, M. "Particle Swarm Optimization Tuning of Fault Tolerant Sliding Mode Control for Quadrotor." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control. Atlanta, Georgia, USA. September 30–October 3, 2018. V003T37A003. ASME. https://doi.org/10.1115/DSCC2018-9078
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