无人机复合执行器故障有限时间容错控制

doi:10.7527/S1000-6893.2025.32659

Abstract

Abstract:

To solve the problem of finite-time trajectory tracking control for quadrotor UAVs with actuator gain loss and bias fault， a Finite-Time Adaptive Sliding Mode Fault-Tolerant Control （FT-ASMFTC） is developed by combining fast terminal sliding mode control with a certainty equivalence adaptive mechanism. Adaptive laws are constructed to achieve real-time estimation of composite fault parameters， while hyperbolic tangent function is employed to suppress sliding mode chattering. Using finite-time Lyapunov stability theory， the closed-loop system states are rigorously proven to converge to the equilibrium point within a prescribed-time after the occurrence of faults. The adaptive process boundaries are constrained through the sliding mode surface， and the dependence of traditional adaptive control on precise fault parameter identification is overcome， achieving collaborative optimization of robust stability and finite-time convergence for the system with composite faults. Quantitative comparative analyses among FT-ASMFTC， Robust Global Fast Terminal Sliding Mode Control （RGFTSMC） and Asymptotic Adaptive Control （AAC） are given and demonstrate that the faulty system controlled by FT-ASMFTC method exhibits fast transient response， high steady-state accuracy， strong robustness， and good fault-tolerant control capability.

Key words: quadrotor unmanned aerial vehicle, fast terminal sliding mode control, actuator fault, adaptive control, finite-time, fault-tolerant control

CLC Number:

Yuying GUO, Lanxin LIAO, Xiaoqiang ZHANG, Youmin ZHANG, Kai WANG. Finite-time fault-tolerant control of compound actuator faults for unmanned aerial vehicles[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(4): 332659.

Figures/Tables 14

Fig.1

Fig.2

Table 1

Controller parameters

参数	数值
$a h$	1
$a r$	$[15,15,15] T$
$b h$	1.5
$b r$	$[13,13,13] T$
$m h$	15
$m r$	$15$
$n h$	13
$n r$	1
$k 1 h$	7
$k 2 h$	0.1
$K 1 r$	$d i a g (60,60,60)$
$K 2 r$	$d i a g (0.1,0.1,0.1)$
$λ z 1$	0.08
$λ z 2$	1
$Γ 1$	$d i a g (0.05,0.05,0.05)$
$Γ 2$	$I$

Table 1

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

Table 2

Table 3

Comparison of ITAE for attitude tracking errors under different fault occurrence times

性能指标	控制策略	ITAE值
性能指标	控制策略	故障发生时刻5 s	故障发生时刻10 s	故障发生时刻15 s	故障发生时刻20 s
ITAE_ $Θ ϕ$	FT-ASMFTC	0.031 7	0.140 2	0.193 9	0.215 0
	RGTSMC	0.422 6	0.842 3	1.815 0	4.098 0
	AAC	0.610 0	1.024 0	1.862 0	3.246 0
ITAE_ $Θ θ$	FT-ASMFTC	0.033 2	0.162 6	0.215 1	0.365 1
	RGTSMC	0.793 9	1.628 0	2.729 0	5.020 0
	AAC	1.022 0	1.784 0	2.992 0	5.596 0
ITAE_ $Θ ψ$	FT-ASMFTC	0.024 0	0.052 4	0.092 2	0.114 1
	RGTSMC	0.033 2	0.080 0	0.145 6	0.229 4
	AAC	0.050 0	0.111 1	0.196 7	0.302 9

Table 3

Fig.8

Fig.9

Fig.10

Fig.11

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控制方法	误差稳定时间
控制方法	故障发生时刻5 s	故障发生时刻10 s	故障发生时刻15 s	故障发生时刻20 s
FT-ASMFTC/s	0.1	1.5	0.2	0.2
RGTSMC/s	0.9	1.6	2.0	3.5
AAC/s	0.3	1.7	1.9	4.0

Finite-time fault-tolerant control of compound actuator faults for unmanned aerial vehicles

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