Adaptive PID Sliding Mode Control of a Quadrotor UAV with the Deviation Fault of One Motor Thrust

This article addresses the problem of fault-tolerant control of a drone experiencing structural faults, such as a motor misalignment (deviation). The context of this type of fault has received limited attention in the existing literature. Initially, the dynamic model of the damaged quadrotor, which differs from that of the traditional drone, is derived using the Newton-Euler approach. Then, an Adaptive PID Sliding Mode Control (APIDSMC) technique is developed to achieve stabilization and fast trajectory tracking of the attitude and the altitude of the faulty quadrotor. The adaptive laws derived from the Lyapunov stabilization criteria reduce the control efforts and sudden overshoots, and more importantly, they enhance the robustness of the control framework and are capable of compensating for the lack of knowledge regarding the upper bound of faults and disturbances. The conducted simulation studies in MATLAB verify the effectiveness of the proposed control technique in both compensating for fault effects on the system dynamics and rejecting disturbances. Moreover, the superiority of the designed APIDSMC over other robust control techniques has been confirmed in faster settling time, oscillation reduction, and control effort alleviation.

کلیدواژه ها:

Structural faults ، Damaged quadrotor ، Adaptive PID sliding mode control ، Fault-tolerant control