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<p>Quadrotors are widely used across various sectors due to their distinctive characteristics. Controlling quadrotor underactuated systems poses several challenges, such as meeting stringent trajectory tracking requirements and maintaining stability in the face of actuator failures, time-varying disturbances, and uncertainty. This paper presents an adaptive type-3 fuzzy sliding mode control approach designed to address path following in a quadrotor aircraft subject to actuator failures, external disturbances, and parametric uncertainties. Adaptive type-3 fuzzy inference systems are utilized to estimate unknown nonlinearities within the sliding mode controller, which depends on an accurate quadrotor model. The Lyapunov direct method is employed to conduct the stability demonstration of the complete system. The closed-loop system ensures the uniformly ultimately bounded stability of all signals. The suggested control method guarantees the attainment of a specified trajectory while reducing the effects of actuator malfunctions, external disturbances, and uncertainties. The key novelties of this work are: (1) the development of a comprehensive quadrotor dynamic model that, for the first time, explicitly incorporates actuator faults and parametric uncertainties; (2) the introduction of an adaptive type-3 fuzzy sliding mode control (AT3FSMC) strategy, which leverages interval type-3 fuzzy inference systems for real-time estimation and compensation of unknown nonlinearities, disturbances, and actuator defects; and (3) a rigorous Lyapunov-based stability proof ensuring uniformly ultimately bounded system behavior under faulty and uncertain conditions. Extensive simulation results further demonstrate that the proposed approach significantly outperforms existing methods in maintaining robust trajectory tracking and system stability, even in the presence of actuator faults and external disturbances.</p>

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Robust adaptive type-3 fuzzy fault-tolerant control for quadrotor aircraft under uncertainties and disturbances

  • 期刊论文

  • 发表日期：

    2025年8月2日

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  • Samir Zeghlache,
  • Abdelkader Djerad,
  • Hilal Rahali,
  • Ali Djerioui,
  • Loutfi Benyettou,
  • Mohamed Fouad Benkhoris

摘要

Quadrotors are widely used across various sectors due to their distinctive characteristics. Controlling quadrotor underactuated systems poses several challenges, such as meeting stringent trajectory tracking requirements and maintaining stability in the face of actuator failures, time-varying disturbances, and uncertainty. This paper presents an adaptive type-3 fuzzy sliding mode control approach designed to address path following in a quadrotor aircraft subject to actuator failures, external disturbances, and parametric uncertainties. Adaptive type-3 fuzzy inference systems are utilized to estimate unknown nonlinearities within the sliding mode controller, which depends on an accurate quadrotor model. The Lyapunov direct method is employed to conduct the stability demonstration of the complete system. The closed-loop system ensures the uniformly ultimately bounded stability of all signals. The suggested control method guarantees the attainment of a specified trajectory while reducing the effects of actuator malfunctions, external disturbances, and uncertainties. The key novelties of this work are: (1) the development of a comprehensive quadrotor dynamic model that, for the first time, explicitly incorporates actuator faults and parametric uncertainties; (2) the introduction of an adaptive type-3 fuzzy sliding mode control (AT3FSMC) strategy, which leverages interval type-3 fuzzy inference systems for real-time estimation and compensation of unknown nonlinearities, disturbances, and actuator defects; and (3) a rigorous Lyapunov-based stability proof ensuring uniformly ultimately bounded system behavior under faulty and uncertain conditions. Extensive simulation results further demonstrate that the proposed approach significantly outperforms existing methods in maintaining robust trajectory tracking and system stability, even in the presence of actuator faults and external disturbances.