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<p>In this paper, an adaptive fault-tolerant control framework based on the terminal sliding mode reaching law coupled with a nonlinear disturbance observer is proposed to address the trajectory tracking control of the quadrotor system subject to the lumped uncertainties and actuator faults. The main objective of the designed controller is to improve and boost the robustness of the quadrotor's tracking operations against destructive uncertainties and faults. For this reason, firstly, a control system is designed to compensate for actuator faults to enhance the stability of the system under these unpleasant faults. Then, the terminal sliding mode reaching law scheme is proposed to guarantee the finite-time stabilization of the tracking error, which results in the finite-time tracking performance of the quadrotor system under lumped uncertainties and actuator faults. Afterwards, a nonlinear disturbance observer is proposed to estimate the lumped uncertainties to improve and assure the accuracy of the tracking performance of the quadrotor system. By integrating Lyapunov-based stability analysis and adaptive fault-tolerant control-based terminal sliding mode reaching law combined with the nonlinear disturbance observer, the method ensures finite-time convergence of tracking errors while compensating for disturbances and actuator failures. Finally, the superiority and greatness of the recommended control approach is confirmed via pure simulation results-based MATLAB/Simulink, comparison results with recent existing techniques, and hardware-in-the-loop implementation. Moreover, to analytically interpret the efficiency of the proposed method in comparison to existing control approaches, several metrics are presented, including absolute value error. The provided simulation and implementation results highlight how the proposed control approach comprising the terminal sliding mode reaching law, observer-based compensation, and adaptive fault-tolerant control can be evenly combined to reach top performance for the trajectory tracking control of the quadrotor systems.</p>

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Analytical design and stability analysis of a terminal sliding mode reaching law-based disturbance observer for quadrotors

  • 期刊论文

  • 发表日期：

    2025年8月9日

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  • Saleh Mobayen,
  • Omid Mofid

摘要

In this paper, an adaptive fault-tolerant control framework based on the terminal sliding mode reaching law coupled with a nonlinear disturbance observer is proposed to address the trajectory tracking control of the quadrotor system subject to the lumped uncertainties and actuator faults. The main objective of the designed controller is to improve and boost the robustness of the quadrotor's tracking operations against destructive uncertainties and faults. For this reason, firstly, a control system is designed to compensate for actuator faults to enhance the stability of the system under these unpleasant faults. Then, the terminal sliding mode reaching law scheme is proposed to guarantee the finite-time stabilization of the tracking error, which results in the finite-time tracking performance of the quadrotor system under lumped uncertainties and actuator faults. Afterwards, a nonlinear disturbance observer is proposed to estimate the lumped uncertainties to improve and assure the accuracy of the tracking performance of the quadrotor system. By integrating Lyapunov-based stability analysis and adaptive fault-tolerant control-based terminal sliding mode reaching law combined with the nonlinear disturbance observer, the method ensures finite-time convergence of tracking errors while compensating for disturbances and actuator failures. Finally, the superiority and greatness of the recommended control approach is confirmed via pure simulation results-based MATLAB/Simulink, comparison results with recent existing techniques, and hardware-in-the-loop implementation. Moreover, to analytically interpret the efficiency of the proposed method in comparison to existing control approaches, several metrics are presented, including absolute value error. The provided simulation and implementation results highlight how the proposed control approach comprising the terminal sliding mode reaching law, observer-based compensation, and adaptive fault-tolerant control can be evenly combined to reach top performance for the trajectory tracking control of the quadrotor systems.