Sliding mode-based fault tolerant control designs for quadrotor UAVs-A comparative study

Abstract

This paper provides a comparative study of three Sliding Mode Control (SMC)-based fault tolerant controllers for trajectory tracking of a quadrotor UAV subject to actuator faults. Conventional SMC, Integral (ISMC) and Integral Terminal SMC (ITSMC) designs are designed and implemented to a quadrator UAV. The controllers' performance along with their respective robustness was assessed using various faulty conditions. Stability analysis was carried over using the Lyapunov approach. A thorough discussion of the controllers' respective performance in light of the obtained results was also performed and presented in the paper.