Fault tolerant control of an octorotor UAV using sliding mode for applications in challenging environments

Abstract

This paper presents the development of fault-tolerant controller and their application for multirotor unmanned aerial vehicles - specifically an octorotor - in challenging environments e.g. nuclear power plant inspection or other dull, dirty and dangerous applications. This paper considers a combination of sliding mode control robustness properties (to deal with actuator faults) and control allocation (to automatically redistribute the control signals to healthy actuators, especially in the event of actuator failures). The resultant controller has the ability to operate in both fault-free and fault/failure conditions without reconfiguring the main baseline controller. The proposed controller also has the ability to operate for up to six rotor failures which represent an underactuation condition i.e., a case when only two rotors are available. The under-actuation scenarios are conditions when most FTC schemes are not able to operate due to the lack of redundancy. The simulation results conducted on the nonlinear model with wind/gusts and sensor noise, show a good tracking performance under various fault-free and fault/failure scenarios (over-actuation, sufficient actuation and under-actuation conditions).