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Designing a fault-tolerant robust controller for manipulation with quadrotors in the presence of parameter uncertainty and actuator fault
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Mahdi Khaleghi   , Amir Farhad Ehyaei * , Javad Ehyaei |
| Imam Khomeini International University |
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Abstract: (3 Views) |
Unmanned aerial vehicles (UAVs) equipped with robotic manipulators have enabled diverse operations in challenging environments and have recently attracted significant attention. In this study, a robust fault-tolerant controller was designed for a quadrotor with a robotic arm in the presence of parametric uncertainties, external disturbances, and actuator failures. First, an accurate nonlinear dynamic model of a quadrotor with a two-degree-of-freedom robotic arm was presented, incorporating the coupled dynamics between the aerial vehicle and the robotic manipulator in the modeling. Subsequently, an enhanced proportional-integral sliding mode controller (PI-SMC) was developed, and the closed-loop stability was proven using Lyapunov theory. For evaluation, numerical simulations were conducted in MATLAB/Simulink under three operational scenarios i.e., independent quadrotor motion at a fixed altitude, simultaneous operation of the robotic arm performing a 45-degree amplitude sinusoidal motion, and a failure scenario with a 35% reduction in rotor effectiveness. The simulation results demonstrated that the proposed controller ensures the stability and accuracy of the overall system under 20% parametric uncertainty, disturbances, and actuator faults, precisely and stably tracking both the flight trajectory and the arm's position. Furthermore, a comparative analysis with feedback linearization control (FLC) and conventional sliding mode control (SMC) highlighted the superiority of the proposed method. |
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| Keywords: Manipulation with quadrotors, proportional integral robust controller, fault tolerant control, parametric uncertainty, actuator fault |
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Full-Text [PDF 4133 kb]
(2 Downloads)
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Type of Study: Research |
Subject:
Control systems
Received: 2025/01/21 | Accepted: 2025/08/25 | Published: 2026/10/26
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