Abstract:
Unmanned aerial vehicles (UAVs) are integral to diverse applications, but quadrotor
systems face instability when one actuator fails. This study presents an emergency
fault-tolerant control strategy for quadrotor UAVs with a failed actuator, transforming
the quadrotor into a trirotor configuration. The proposed control allocation method
redistributes control effort to the healthy actuators, ensuring stability and mission
continuation. This research enhances the resilience of UAV systems, vital for critical
missions. It introduces a novel control strategy known as Impulsive Terminal Super
Twisting Sliding Mode Controller (ITST-SMC) and Barrier function-based Sliding
Mode Control. To enhance controller performance, the Redfox optimization technique
is employed to obtain optimal values for controller gains. Utilizing the Lagrange formalism,
a nonlinear model of the system is derived, which considers both gyroscopic
moments and aerodynamic effects, providing a more accurate portrayal of the system’s
behavior. To confirm asymptotic stability, a thorough analysis based on Lyapunov
stability principles is performed. The research will evaluate the transient characteristics
(e.g., rise time, settling time) and performance indices, including Integral Time
Square Error (ITSE), Root Mean Square Error (RMSE), Integral Time Absolute Error
(ITAE), Integral Square Error (ISE), Mean Absolute Percentage Error (MAPE),
and Integral Absolute Error (IAE). This research contributes valuable insights into the
field of UAV control and offers practical solutions for improving the stability of such
systems, which are increasingly crucial in modern applications.
