Fault Accommodation Sliding-Mode Control for Quad-Rotor Tracking Trajectory

Resumen: This work presents the design of a fault accommodation control for trajectory tracking in a Quad-Rotor under multiple actuator faults and external disturbances. The faults are modeled as partial loss of effectiveness. The proposed scheme is composed of a fault identification module, based on a finite-time sliding mode observer, and a robust nominal controller. Such a strategy uses the fault identification to partially compensate for the effect of faults, while the robust nominal controller deals with external disturbances. The performance of the proposed scheme is validated through numerical simulations.

¿Cómo citar?

Romeo Falcon, Hector Rios & Alejandro Dzul. Fault Accommodation Sliding-Mode Control for Quad-Rotor Tracking Trajectory. Memorias del Congreso Nacional de Control Automático, pp. 267-272, 2021.

Palabras clave

Fault Tolerant Control, Quad-Rotor, Fault Accommodation

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