Interpolated reference model based fault tolerant sliding mode control for an octorotor

Abstract

In this paper, a quasi-linear parameter varying sliding mode control allocation law is proposed for the fault tolerant control of an octorotor. In the event of rotor faults/failures an allocation law redistributes the control effort among the remaining healthy rotors. The sliding mode control law is designed to guarantee asymptotic tracking of a reference model which is tuned on-line, through an interpolated feedback gain, to ensure that the control signals remain within their saturation limits. A method for designing the parameterised feedback gain is proposed which is shown to maximise a defined stability criteria whilst preventing undesirable performance characteristics in the reference model. The proposed scheme is tested on a non-linear octorotor model in the presence of severe rotor failures and uncertainty/disturbances.