IJCAS

In this paper, a model for a Quadrotor helicopter has been considered when a fault has been occurred in its actuators. The sliding mode control technique has been utilized as one of a robust passive fault tolerant control methods to control the Quadrotor’s attitude. An adaptive fuzzy system, as a compensator has been used to compensate the estimation error of nonlinear functions and faulty parts. Although increasing the adaptation rate enhances the responding speed, it is accompanied by closed loop system instability. In order to avoid instability and to increase the robustness of the closed loop system, in this paper, a new parallel fuzzy system has been proposed along with a main fuzzy system. The adaptation rules of the main and parallel fuzzy systems were extracted from Lyapunov’s stability theory. During the numerical simulation, the efficiency of the proposed method has been shown against actuator faults.

Keywords: Adaptive fuzzy sliding mode control, fault tolerant control, quadrotor, trajectory tracking control.