Fault tolerant control for modified quadrotor via adaptive type-2 fuzzy backstepping subject to actuator faults

Samir Zeghlache; Ali Djerioui; Loutfi Benyettou; Tarak Benslimane; Hemza Mekki; Abderrahmen Bouguerra

doi:10.1016/j.isatra.2019.04.034

Fault tolerant control for modified quadrotor via adaptive type-2 fuzzy backstepping subject to actuator faults

ISA Trans. 2019 Dec:95:330-345. doi: 10.1016/j.isatra.2019.04.034. Epub 2019 May 14.

Authors

Samir Zeghlache¹, Ali Djerioui², Loutfi Benyettou³, Tarak Benslimane⁴, Hemza Mekki⁵, Abderrahmen Bouguerra⁶

Affiliations

¹ LASS, Laboratoire d'Analyse des Signaux et Systèmes, Department of Electrical Engineering, Faculty of Technology, University of M'sila, BP 166 Ichbilia, Msila, Algeria. Electronic address: samir.zeghlache@univ-msila.dz.
² LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, University of M'sila, BP 166 Ichbilia, Msila, Algeria. Electronic address: alidjerioui@yahoo.fr.
³ LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, University of M'sila, BP 166 Ichbilia, Msila, Algeria. Electronic address: benyettou_letfi@yahoo.fr.
⁴ LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, University of M'sila, BP 166 Ichbilia, Msila, Algeria. Electronic address: bens082002@yahoo.fr.
⁵ LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, University of M'sila, BP 166 Ichbilia, Msila, Algeria. Electronic address: hemza.mekki@g.enp.edu.dz.
⁶ LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, University of M'sila, BP 166 Ichbilia, Msila, Algeria. Electronic address: rah_bou@yahoo.fr.

PMID: 31103255
DOI: 10.1016/j.isatra.2019.04.034

Abstract

In this paper, a robust attitude and position control of a novel modified quadrotor unmanned aerial vehicles (UAV) which has higher drive capability as well as greater robustness against actuator faults than conventional quad-rotor UAV has been developed. A robust backstepping controller with adaptive interval type-2 fuzzy logic is proposed to control the attitude and position of the modified quadrotor under actuator faults. Besides globally stabilizing the system amid other disturbances, the insensitivity to the model errors and parametric uncertainties are the asset of the backstepping approach. The adaptive interval type-2 fuzzy logic as fault observer can effectively estimate the lumped faults without the knowledge of their bounds for the modified quadrotor UAV. Additionally, the type-2 fuzzy systems are utilized to approximate the local nonlinearities of each subsystem under actuator faults, next and in order to achieve the expected tracking performance, we used Lyapunov theory stability and convergence analysis to online adjust adaptive laws. As a result, the uniformly ultimate stability of the modified quadrotor system is proved. Finally, the performances of the proposed control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the modified quadrotor in vertical flights in presence of actuator faults.

Keywords: Adaptive control; Backstepping control; Modified quadrotor; Robust control; Type-2 fuzzy logic systems.