Designing a Multidimensional Sliding Mode Control System for Quadcopters Under Fault Conditions: Enhanced Fault Tolerance and Robustness

الموضوعات : مهندسی هوشمند برق

Mohammad Amin Ahmadi ¹ , Mehdi Siahi ² , Ali Moarefianpour ³ , Soodabeh Soleymani Morcheh Khorti ⁴

1 - Department of Electrical Engineering, Science and Research Branch, Islamic Azad university, Tehran, Iran
2 - Department of Electrical Engineering, Science and Research Branch, Islamic Azad university, Tehran, Iran
3 - Department of Electrical Engineering, Science and Research Branch, Islamic Azad university, Tehran, Iran
4 - Department of Electrical Engineering, Science and Research Branch, Islamic Azad university, Tehran, Iran

تاريخ الإرسال : 06 الإثنين , ذو الحجة, 1446 تاريخ التأكيد : 16 الجمعة , محرم, 1447 تاريخ الإصدار : 29 الخميس , محرم, 1447

الکلمات المفتاحية: Quadcopter, Multidimensional Sliding Mode Control, Faults, Dynamic Control.,

ملخص المقالة :

Unmanned aerial vehicles, particularly quadcopters, have gained widespread popularity across various applications. However, their operation is susceptible to faults, which can compromise stability and performance. This paper introduces a novel Multidimensional Sliding Mode Control (MSMC) strategy for quadcopters, designed to enhance fault tolerance and overall system robustness. The proposed approach incorporates advanced fault detection and isolation algorithms, enabling real-time identification and mitigation of diverse fault scenarios. Extensive simulations and experimental evaluations demonstrate the MSMC strategy's superiority over several existing fault-tolerant control techniques, achieving at least 18.47% higher accuracy in fault damping. Additionally, the sliding mode control system exhibits improved stability characteristics, with a response time reduction of at least 6.45% compared to conventional methods. The robustness and adaptability of the MSMC make it a promising solution for ensuring safe and reliable quadcopter operations under various fault conditions, paving the way for enhanced performance and increased operational safety across a wide range of applications.

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