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Fault-Tolerant Sliding Mode Control of a Quadrotor UAV with Delayed Feedback

Safi Ullah 1, Kamran Iqbal 1, and Fahad Mumtaz Malik 2
1. University of Arkansas at Little Rock, Little Rock, Arkansas, USA
2. College of Electrical and Mechanical Engineering, NUST, Islamabad, Pakistan

Abstract—A quadrotor unmanned aerial vehicle (UAV) controller distributes the pitch, roll and yaw commands to individual propellers. This paper explores fault-tolerant control of a quadrotor UAV using delayed feedback and Divided State Feedback Control (DSFC). Initially, a Sliding Mode Controller (SMC) for the quadrotor UAV is designed to obtain sustained performance in the presence of actuator faults. The SMC performance deteriorates considerably in the presence of delayed sensory feedback from the UAV. A DSFC is then used to restore effectiveness of the device controller. The proposed control structure delivers improved stabilization, robustness and transient response in the presence of actuator faults. Computer simulations are presented to illustrate the effectiveness of our hybrid control scheme.

Index Terms—divided state feedback control, Sliding Mode Control (SMC), actuator faults, quadrotor UAV, Fault Tolerant Control (FTC), time delays

Cite: Safi Ullah, Kamran Iqbal, and Fahad Mumtaz Malik, "Fault-Tolerant Sliding Mode Control of a Quadrotor UAV with Delayed Feedback" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 1, pp. 1-6, January 2020. DOI: 10.18178/ijmerr.9.1.1-6

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.