Volume 15, Issue 2 (June 2019)                   IJEEE 2019, 15(2): 243-257 | Back to browse issues page

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Babaie R, Ehyaei A F. Optimal Integral Sliding Mode Controller of a UAV With Considering Actuator Fault. IJEEE 2019; 15 (2) :243-257
URL: http://ijeee.iust.ac.ir/article-1-1258-en.html
Optimal Integral Sliding Mode Controller of a UAV With Considering Actuator Fault
R. Babaie , A. F. Ehyaei
Abstract:   (3768 Views)
In this paper, using the State Dependent Riccati Equation (SDRE) method, we propose a Robust Optimal Integral Sliding Mode Controller (ROISMC) to guarantee an optimal control law for a quadrotor which has become increasingly important by virtue of its high degrees of manoeuvres ability in presence of unknown time-varying external disturbances and actuator fault. The robustness of the controller is ensured by an Integral Sliding Mode Controller (ISMC). Subsequently, based on Luenberger linear state estimator, the control algorithm is reformed and the actuator’s faults are detected. Moreover, design of the controller is based on Lyapunov method which can provide the stability of all system states during the tracking of the desired trajectory. The stability of suggested algorithm is verified via the execution of sudden maneuvers subjected to forcible wind disturbance and actuator faults while performing accurate attitude and position tracking by running an extensive numerical simulation. It is comprehended that the proposed optimal robust method can achieve much better tracking capability compared with conventional sliding mode controller.
Keywords: Quadrotor , Integral Sliding Mode Control , SDRE , Optimal Control , Actuator’s Fault
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Type of Study: Research Paper | Subject: Nonlinear Control Systems
Received: 2018/04/01 | Revised: 2019/04/07 | Accepted: 2018/09/24
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Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
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© 2022 by the authors. Licensee IUST, Tehran, Iran. This is an open access journal distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.