@inproceedings{b607973dcad14701ab67c94dfaade282,
title = "A Fault-tolerant Finite Time Control Method for Tilting Quadrotors",
abstract = "A fault-tolerant finite time control method for tilting quadcopters with actuator faluts is proposed in this research. To begin, a dynamic model of a tilting quadrotor is created. Then, using nonsingular fast terminal sliding mode control (NFTSM), a finite time control method is examined. A fault-tolerant finite time control method (FTFC) is developed by integrating NFTSM, high-order sliding mode(HOSM) and a simple falut diagnosis scheme to prevent actuator failure from negatively influencing the system. HOSM is used to eliminate chattering. A time-delay disturbance observer (TDO) is created to observe actuator failures and a control strategy is provided to accommodate the faults' bad influence in the falut diagnosis scheme. FTFC provides the advantages of non-singularity, high robustness, finite time convergence and low chattering over other control methods. The efficiency of the control method is verified in the simulation.",
keywords = "disturbance observer, falut-tolerant, terminal sliding mode control, tilting quadrotor",
author = "Kailun Cui and Ruoqiao Guan and Wei Zhang and Fenghua He",
note = "Publisher Copyright: {\textcopyright} 2022 Technical Committee on Control Theory, Chinese Association of Automation.; 41st Chinese Control Conference, CCC 2022 ; Conference date: 25-07-2022 Through 27-07-2022",
year = "2022",
doi = "10.23919/CCC55666.2022.9902359",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "4159--4164",
editor = "Zhijun Li and Jian Sun",
booktitle = "Proceedings of the 41st Chinese Control Conference, CCC 2022",
address = "美国",
}