T-S Fuzzy Fault-Tolerant Control of UAV System Based on Dynamic Memory Event-Triggering Scheme

This paper focuses on the trajectory tracking problem of a quadrotor UAV under dynamic memory event-triggering conditions with actuator faults. By analyzing the kinematics, dynamics characteristics, actuator failure and parameter uncertainty of the quadrotor UAV, the nonlinear dynamic model of the quadrotor UAV is formulated as a mutually coupled decentralized T-S fuzzy model, i.e., the outer-loop position control system and the inner-loop angle control system. Considering the limited network bandwidth, a T-S fuzzy fault-tolerant control scheme based on dynamic memory event-triggering mechanism is proposed. A Lyapunov functional is constructed making full use of the state information at the sampling moment. Linear matrix inequalities (LMIs) conditions are obtained for asymptotic stability of the position and attitude subsystems of the quadrotor UAV based on the Lyapunov stability theory. Finally, matlab software is used to complete the UAV position and attitude control simulation to verify the effectiveness and reliability of the proposed control scheme.