Fault-Tolerant Control for Hexacopter UAV Using Adaptive Algorithm with Severe Faults
نویسندگان
چکیده
In this paper, a fault-tolerant control method is proposed for hexacopter under uncertainties. The based on adaptive-sliding-mode (ASMC) and allocation scheme. First, mathematical model of the employed with Next, strategy combined ASMC to handle actuator faults, which can distribute virtual signal redundant actuators. A modified overcome input saturation. Finally, system stability validated using Lyapunov theory. performance compared that normal ASMC. simulation results show suggested realize quicker compensation faulty conditions.
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ژورنال
عنوان ژورنال: Aerospace
سال: 2022
ISSN: ['2226-4310']
DOI: https://doi.org/10.3390/aerospace9060304