U-Model-Based Sliding Mode Controller Design for Quadrotor UAV Control Systems

Abstract EN

This paper proposes a U-model-based fault-tolerant controller design method in order to ensure the unmanned aerial vehicle (UAV) flight performance when subject to the actuator failures.

Depending on the decoupled quadrotor model, this paper presents a sliding mode control method based on U-model in detail and realizes fault-tolerant control for the quadrotor UAV with the stability theory and simulation experiment verifications.

The results show that the new controller designed by using the U-model method can simplify the controller design process which has good fault-tolerant characteristics when actuator faults occur compared with the traditional method.