Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV

Samir Zeghlache; Hemza Mekki; Abderrahmen Bouguerra; Ali Djerioui

doi:10.1016/j.isatra.2018.06.003

Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV

ISA Trans. 2018 Sep:80:267-278. doi: 10.1016/j.isatra.2018.06.003. Epub 2018 Jun 7.

Authors

Samir Zeghlache¹, Hemza Mekki², Abderrahmen Bouguerra³, Ali Djerioui⁴

Affiliations

¹ LASS, Laboratoire d'Analyse des Signaux et Systèmes, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: zegsam5@gmail.com.
² LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: hemza.mekki@g.enp.edu.dz.
³ LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: rah_bou@yahoo.fr.
⁴ LGE, Laboratoire de Génie Electrique, Department of Electrical Engineering, Faculty of Technology, Mohamed Boudiaf University of Msila, BP 166 Ichbilia, Msila, Algeria. Electronic address: alidjerioui@yahoo.fr.

PMID: 29885739
DOI: 10.1016/j.isatra.2018.06.003

Abstract

In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system. The simulation results show that the proposed FTC can greatly alleviate the chattering effect, good tracking in presence of actuator faults.

Keywords: Actuator fault tolerant control; Coaxial octorotor; Fuzzy logic; Lyapunov stability; Radial basis function neural network; Sliding mode control.