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<p>This paper presents a hybrid fault-tolerant control (HFTC) approach designed to achieve safe operations of unmanned aerial vehicle (UAV) quadrotors experiencing actuator faults and external disturbances. The primary novelty lies in the integration of a novel enhanced triple power reaching law (ETPRL) within the sliding mode control (SMC) framework and a unique hybrid fault compensation strategy. The ETPRL is specifically formulated to accelerate system convergence and attenuate chattering more effectively than existing reaching laws, improving the underlying robustness of the SMC. Contrasting with previous HFTC methods that often rely solely on online adaptation or fixed robust designs, our approach leverages pre-computation for rapid response: multiple actuator fault scenarios are simulated offline, and for each, particle swarm optimization (PSO) determines the optimal SMC parameters incorporating the ETPRL. These parameter sets constitute a fault accommodation data. During flight, an extended Kalman filter (EKF) provides real-time fault detection and identification (FDI). Based on the EKF’s estimation of fault location and severity, the system selects the corresponding pre-optimized parameters, ensuring a swift and precisely tailored control reconfiguration. Extensive MATLAB/Simulink simulations confirm the system’s capability to effectively mitigate severe loss of effectiveness (LOE) actuator faults, thereby offering a distinct advantage in maintaining quadrotor’s stability and performance under critical fault conditions.</p>

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Hybrid Fault-Tolerant Sliding Mode Controller for Unmanned Aerial Vehicle Quadrotor Based on Optimized Novel Triple Power Reaching Law

  • 期刊论文

  • 发表日期：

    2025年8月11日

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  • Nizar Benayad,
  • Abdelaziz Aouiche,
  • Abdelghani Djeddi

摘要

This paper presents a hybrid fault-tolerant control (HFTC) approach designed to achieve safe operations of unmanned aerial vehicle (UAV) quadrotors experiencing actuator faults and external disturbances. The primary novelty lies in the integration of a novel enhanced triple power reaching law (ETPRL) within the sliding mode control (SMC) framework and a unique hybrid fault compensation strategy. The ETPRL is specifically formulated to accelerate system convergence and attenuate chattering more effectively than existing reaching laws, improving the underlying robustness of the SMC. Contrasting with previous HFTC methods that often rely solely on online adaptation or fixed robust designs, our approach leverages pre-computation for rapid response: multiple actuator fault scenarios are simulated offline, and for each, particle swarm optimization (PSO) determines the optimal SMC parameters incorporating the ETPRL. These parameter sets constitute a fault accommodation data. During flight, an extended Kalman filter (EKF) provides real-time fault detection and identification (FDI). Based on the EKF’s estimation of fault location and severity, the system selects the corresponding pre-optimized parameters, ensuring a swift and precisely tailored control reconfiguration. Extensive MATLAB/Simulink simulations confirm the system’s capability to effectively mitigate severe loss of effectiveness (LOE) actuator faults, thereby offering a distinct advantage in maintaining quadrotor’s stability and performance under critical fault conditions.