IJAT Vol.15 No.1 pp. 109-122
doi: 10.20965/ijat.2021.p0109


Fault-Tolerant Aircraft Control Based on Self-Constructing Fuzzy Neural Network for Quadcopter

Dejie Li, Pu Yang, Zhangxi Liu, Zixin Wang, and Zhiqing Zhang

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics
29 Yudao Street, Nanjing, Jiangsu 211106, China

Corresponding author

May 17, 2020
September 9, 2020
January 5, 2021
actuator faults, quadcopter, fault-tolerant aircraft control, sliding-mode control, adaptive self-constructing fuzzy neural network

This paper proposes a fault-tolerant aircraft control method based on a self-constructed fuzzy neural network for quadcopters with multiple actuator faults. We first introduce the actuator failure model and the model uncertainty. Subsequently, we establish a framework for a self-constructed fuzzy neural network observer with an adaptive rate to obtain the estimated value of the nonlinear term of the module uncertainty. We also design a multivariable sliding mode fault-tolerant controller to ensure the stability of the aircraft under this fault condition. Finally, we conduct experiments using the Pixhawk 4 flight controller installed on the QBall-X4 UAV experimental platform, such that the use of the flight controller’s fault coprocessor and redundant sensor design reduces the crash that occurs during the debugging of the control algorithm. Compared to the existing intelligent fault-tolerant control technology, our proposed method employs fewer fuzzy rules, and the number of these rules can be adaptively adjusted when the system model changes. In the experimental test, the aircraft was still able to fly stably under multi-actuator failure and interference conditions, thereby proving the stability of the proposed controller.

Cite this article as:
Dejie Li, Pu Yang, Zhangxi Liu, Zixin Wang, and Zhiqing Zhang, “Fault-Tolerant Aircraft Control Based on Self-Constructing Fuzzy Neural Network for Quadcopter,” Int. J. Automation Technol., Vol.15, No.1, pp. 109-122, 2021.
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Last updated on Mar. 05, 2021