Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control

This paper deals with the controllers design using a novel siding mode control and proportional–derivative control for the trajectory tracking problem of a new multi-rotor aircraft, which experiences angular velocity sensor faults and external disturbances. The control system is divided into two parts: the inner loop for attitude subsystem and outer loop for position subsystem. For the inner loop, the angular velocity sensor faults, including bias, drift, loss of accuracy, and loss of effectiveness are considered as equivalent mismatched disturbances, while the system internal coupling, nonlinearity, and external disturbances are considered as equivalent matched disturbances. A novel sliding mode control approach is proposed for inner loop controller design, which includes a nonlinear disturbance observer to estimate both mismatched and matched disturbances, a novel switching surface based on the estimation of the mismatched disturbance to counteract its impact, a double power reaching law to attenuate th...