The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This article presents a single‐hidden‐layer feedforward network (SLFN) aided fault‐tolerant control (FTC) scheme for a class of nonlinear systems subject to actuator faults. First, the upper bounds of the norms of the unknown functions, which cover information of actuator faults and amplitude saturation degrees, are deployed. The upper bounds are approximated by SLFNs with adaptive techniques. Subsequently,...
This paper proposes an adaptive robust tracking control strategy for a quadrotor helicopter with parametric uncertainties and external disturbances based on sliding mode control. The inner loop of the control strategy is concerned about the attitude and altitude control of the quadrotor helicopter, while the outer loop is employed to track the desired horizontal positions. By assuming knowledge of...
This paper proposes a fuzzy adaptive sliding mode control for accommodating large actuator fault and maintaining system stability. Boundary layer is employed to smooth control discontinuity and eliminate control chattering. However, if the thickness of boundary layer is chosen too big, the tracking accuracy will be degraded. Whereas, if the boundary layer thickness is too small, control chattering...
A fault tolerant cooperative control (FTCC) strategy for a team of an unmanned aerial vehicle (UAV) and unmanned ground vehicles (UGVs) in the presence of actuator faults are investigated in this paper. A combination of a linear model predictive control (MPC) and input-output feedback linearization is implemented on each UGV, while a combination of a sliding mode control and linear quadratic regulator...
This paper proposes a control algorithm to solve multiple quadrotor formation problem in a leader-follower configuration. A combination of sliding mode control (SMC) and linear quadratic regulator (LQR) are used for trajectory tracking control of a single robot. Position control, which acts as the outer loop is controlled by LQR for providing the reference attitude angles for the inner loop. SMC used...
In this paper, the sliding mode approach is used to control of a quadrotor unmanned aerial vehicle (UAV) in the presence of external disturbance and actuator fault. Fault detection unit can detect the actuator fault using a state estimator. Then it reconfigures the structure of controller such that some control performance is achieved. The proposed control structure has the advantage of disturbance...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.