Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV. (September 2018) - Zeghlache, Samir
Abstract: In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the proposed FTC can greatly alleviate the chattering effect, good tracking in presence of actuator faults. Highlights: Modeling the octorotor helicopter in healthy and faulty operations. Design an adaptive controller in faulty operation of the octorotor helicopter. Proof the stability of the proposed adaptive controller using Lyapunov method. Comparative study in faulty operation of the octorotor helicopter with other techniques proposed in literature.