Interpolated reference model based fault tolerant sliding mode control for an octorotor. Issue 7 (3rd March 2022)

• Record Type: Journal Article
• Authors: Vile, Liam; Alwi, Halim; Edwards, Christopher
• Is Part Of: IET control theory & applications. Volume 16:Issue 7(2022)
• Page Start: 649
• Page End: 662
• Publication Date: 2022-03-03
• Subjects: Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/cth2.12244
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract: In this paper, a quasi‐linear parameter varying sliding mode control allocation law is proposed for the fault tolerant control of an octorotor. In the event of rotor faults/failures, an allocation law redistributes the control effort among the remaining healthy rotors. The sliding mode control law is designed to guarantee asymptotic tracking of a reference model which is tuned on‐line, through an interpolated feedback gain, to ensure that the control signals remain within their saturation limits. A method for designing the parameterised feedback gain is proposed which is shown to maximise a defined stability criteria whilst preventing undesirable performance characteristics in the reference model. The proposed scheme is tested on a non‐linear octorotor model in the presence of severe rotor failures and uncertainty/disturbances.