Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV |
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| Affiliation: | 1. LASS, Laboratoire d’Analyse des Signaux et Systèmes, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria;2. LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria |
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| 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. |
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| Keywords: | Coaxial octorotor Radial basis function neural network Fuzzy logic Sliding mode control Actuator fault tolerant control Lyapunov stability |
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