Print Email Facebook Twitter Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control Title Quadrotor fault-tolerant incremental nonsingular terminal sliding mode control Author Wang, Xuerui (TU Delft Control & Simulation) van Kampen, E. (TU Delft Control & Simulation) Chu, Q. P. (TU Delft Control & Simulation) Date 2019 Abstract This paper proposes incremental nonsingular terminal sliding mode control for a class of multi-input and multi-output nonlinear systems considering model uncertainties, external disturbances, and sudden actuator faults. This method is free from singularity because it does not involve any negative fractional power. The convergence time in both reaching and sliding phases are proved to be finite. Moreover, by fully exploiting sensor measurements, the proposed incremental control method simultaneously reduces model dependency and the uncertainty remaining in the closed-loop system. The reduction of model dependency simplifies the implementation process and reduces the computational load, while the reduction of uncertainty decreases the minimum possible sliding mode control gains, which is beneficial to chattering reduction. These merits are verified by a quadrotor trajectory tracking problem. Simulation results demonstrate that the proposed method has better robustness against model uncertainties, gusts, and actuator faults than the model-based nonsingular terminal sliding mode control in the literature. Subject Disturbance rejectionFault-tolerant controlNonsingular terminal sliding mode controlQuadrotor trajectory controlSensor-based incremental control To reference this document use: http://resolver.tudelft.nl/uuid:f639b961-938a-4e4d-8569-0311d0e0f0aa DOI https://doi.org/10.1016/j.ast.2019.105514 Embargo date 2022-01-05 ISSN 1270-9638 Source Aerospace Science and Technology, 95 Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2019 Xuerui Wang, E. van Kampen, Q. P. Chu Files PDF 1_s2.0_S127096381931329X_main.pdf 7.21 MB Close viewer /islandora/object/uuid:f639b961-938a-4e4d-8569-0311d0e0f0aa/datastream/OBJ/view