{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T11:54:43Z","timestamp":1772366083597,"version":"3.50.1"},"reference-count":35,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2019,2,3]],"date-time":"2019-02-03T00:00:00Z","timestamp":1549152000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Aeronautical Science Foundation","award":["Grant No.2015ZA53003"],"award-info":[{"award-number":["Grant No.2015ZA53003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.<\/jats:p>","DOI":"10.3390\/s19030643","type":"journal-article","created":{"date-parts":[[2019,2,5]],"date-time":"2019-02-05T11:31:07Z","timestamp":1549366267000},"page":"643","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":43,"title":["Sliding Mode Fault Tolerant Control for Unmanned Aerial Vehicle with Sensor and Actuator Faults"],"prefix":"10.3390","volume":"19","author":[{"given":"Juan","family":"Tan","sequence":"first","affiliation":[{"name":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Yonghua","family":"Fan","sequence":"additional","affiliation":[{"name":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Pengpeng","family":"Yan","sequence":"additional","affiliation":[{"name":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Chun","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Astronautics, Northwestern Polytechnical University, Xi\u2019an 710072, China"}]},{"given":"Hao","family":"Feng","sequence":"additional","affiliation":[{"name":"Shanghai Aerospace Control Technology Institute, Shanghai 201109, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,2,3]]},"reference":[{"key":"ref_1","first-page":"1504","article-title":"Design of nonlinear flight control system for tilted turn of UAV","volume":"30","author":"Zhu","year":"2009","journal-title":"J. Mil. Eng."},{"key":"ref_2","first-page":"1","article-title":"Research status and development of UAV flight control methods","volume":"29","author":"Li","year":"2011","journal-title":"Flight Mech."},{"key":"ref_3","first-page":"17","article-title":"Design of the adaptive sliding mode controller for UAV pitching channels","volume":"4","author":"Han","year":"2012","journal-title":"Tactical Missile Control Technol."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1016\/j.isatra.2018.06.003","article-title":"Actuator fault tolerant control using adaptive RBFNN fuzzy sliding mode controller for coaxial octorotor UAV","volume":"80","author":"Zeghlache","year":"2018","journal-title":"ISA Trans."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Ryan, A., Zennaro, M., Howell, A., Sengupta, R., and Hedrick, J.K. (2004, January 14\u201317). An overview of emerging results in cooperative UAV control. Proceedings of the 43rd IEEE Conference on Decision and Control (CDC), Nassau, Bahamas.","DOI":"10.1109\/CDC.2004.1428700"},{"key":"ref_6","first-page":"53","article-title":"The study and simulation of sensor fault diagnosis for an UAV control system","volume":"22","author":"Jia","year":"2005","journal-title":"Comput. Simul."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Jiang, T., and Khorasani, K. (2007). Fault tolerant cooperative control for UAV rendezvous problem subject to actuator faults. Proc. SPIE, 6561.","DOI":"10.1117\/12.720016"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Alwi, H., and Edwards, C. (2006, January 14\u201316). Robust sensor fault estimation for tolerant control of a civil aircraft using sliding modes. Proceedings of the American Control Conference, Minneapolis, MN, USA.","DOI":"10.1109\/ACC.2006.1657634"},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Sharifi, F., Mirzaei, M., Gordon, B.W., and Zhang, Y. (2010, January 6\u20138). Fault tolerant control of a quadrotor UAV using sliding mode control. Proceedings of the Conference on Control Fault-tolerant Systems, Nice, France.","DOI":"10.1109\/SYSTOL.2010.5675979"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"2119","DOI":"10.1109\/TAES.2011.5937287","article-title":"Fault diagnosis and fault-tolerant control strategy for the aerosonde UAV","volume":"47","author":"Bateman","year":"2011","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Roemer, M., and Tang, L. (2014). Integrated vehicle health and fault contingency management for UAVs. Handbook of Unmanned Aerial Vehicles, Springer.","DOI":"10.1007\/978-90-481-9707-1_46"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Garcia, D., Moncayo, H., Perez, A., and Jain, C. (2016, January 6\u20138). Low-cost implementation of a biomimetic approach for UAV health management. Proceedings of the American Control Conference, Boston, MA, USA.","DOI":"10.1109\/ACC.2016.7525255"},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Nguyen, N., and Hong, S. (2019). Sliding mode thau observer for actuator fault diagnosis of quadcopter UAVs. Appl. Sci., 8.","DOI":"10.3390\/app8101893"},{"key":"ref_14","unstructured":"Akhenak, A., Chadli, M., Maquin, D., and Ragot, J. (2003, January 9\u201312). Sliding mode multiple observer for fault detection and isolation. Proceedings of the 42nd IEEE International Conference on Decision and Control, Maui, HI, USA."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"805","DOI":"10.1109\/TFUZZ.2017.2690627","article-title":"Diagnostic observer design for T-S fuzzy systems: Application to Real-Time Weighted Fault Detection Approach","volume":"26","author":"Li","year":"2018","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"655","DOI":"10.1049\/iet-cta.2014.0577","article-title":"Editorial: Fault detection, isolation, and tolerant control of vehicles using soft computing methods","volume":"8","author":"Karimi","year":"2014","journal-title":"IET Control Theory Appl."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1016\/j.neucom.2016.06.001","article-title":"Speed sensor fault tolerant controller design for induction motor drive in EV","volume":"214","author":"Aouaouda","year":"2016","journal-title":"Neurocomputing"},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"2627","DOI":"10.1016\/j.jfranklin.2012.09.010","article-title":"Robust fault tolerant tracking controller design for a VTOL aircraft","volume":"350","author":"Chadli","year":"2013","journal-title":"J. Frankl. Inst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"103","DOI":"10.1016\/S1369-8869(00)00009-4","article-title":"A fault tolerant flight control system for sensor and actuator failures using neural networks","volume":"3","author":"Napolitano","year":"2000","journal-title":"Aircr. Des."},{"key":"ref_20","first-page":"920796","article-title":"Adaptive finite-time control for a flexible hypersonic vehicle with actuator fault","volume":"2013","author":"Wang","year":"2013","journal-title":"Math. Probl. Eng."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1359","DOI":"10.1109\/TAES.2004.1386887","article-title":"Robust and adaptive actuator failure compensation designs for a rocket fairing structural-acoustic model","volume":"40","author":"Tang","year":"2004","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1109\/9.898697","article-title":"Adaptive state feedback and tracking control of systems with actuator failures","volume":"46","author":"Tao","year":"2001","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"157","DOI":"10.1109\/TCST.2005.859639","article-title":"Adaptive failure compensation of two-state aircraft morphing actuators","volume":"14","author":"Tao","year":"2006","journal-title":"IEEE Trans. Control Syst. Technol."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"672","DOI":"10.1007\/s12555-014-0169-2","article-title":"Robust fault tolerant tracking control design for a linearized hypersonic vehicle with sensor fault","volume":"13","author":"Gao","year":"2015","journal-title":"Int. J. Control Autom. Syst."},{"key":"ref_25","first-page":"212222","article-title":"Variable structure systems with sliding modes","volume":"22","author":"Utkin","year":"1997","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_26","unstructured":"Yu, P., Shtessel, Y.B., and Edwards, C. (2013, January 19\u201322). Adaptive continuous higher order sliding mode control of air breathing hypersonic missile for maximum target penetration. Proceedings of the Aiaa Guidance, Navigation and Control Conference, Boston, MA, USA."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1324","DOI":"10.1080\/00207170110061077","article-title":"Variable structure control of dynamical systems with mismatched norm-bounded uncertainties: An LMI approach","volume":"74","author":"Choi","year":"2001","journal-title":"Int. J. Control"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"510","DOI":"10.1016\/j.jfranklin.2011.06.026","article-title":"Fault reconstruction using a LVP sliding mode observer for a class of LVP systems","volume":"349","author":"Halim","year":"2012","journal-title":"J. Frankl. Inst."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"897","DOI":"10.1016\/j.conengprac.2005.05.002","article-title":"Sensor fault tolerant control using sliding mode observers","volume":"14","author":"Chrisropher","year":"2006","journal-title":"Control Eng. Pract."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Zang, X., and Tang, S. (2012, January 5\u20137). Combined feedback linearization and sliding mode control for reusable launch vehicle reentry. Proceedings of the 12th International Conference on Control Automation Robotics & Vision (ICARCV), Guangzhou, China.","DOI":"10.1109\/ICARCV.2012.6485353"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1186","DOI":"10.2514\/1.35066","article-title":"Fault tolerant sliding mode control design with piloted simulator evaluation","volume":"31","author":"Alwi","year":"2008","journal-title":"J. Guid. Control Dyn."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Nguyen, N., and Hong, S. (2019). Fault-tolerant control of quadcopter UAVs using robust adaptive sliding mode approach. Energies, 12.","DOI":"10.3390\/en12010095"},{"key":"ref_33","unstructured":"Qian, X.F., Lin, R.X., and Zhao, Y.N. (2013). Missile Fight Dynamics, Beijing Institute of Technology Press."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"5757","DOI":"10.1016\/j.amc.2011.11.080","article-title":"A chattering-free robust adaptive sliding mode controller for synchronization of two different chaotic systems with unknown uncertainties and external disturbances","volume":"218","author":"Aghababa","year":"2012","journal-title":"Appl. Math. Comput."},{"key":"ref_35","doi-asserted-by":"crossref","unstructured":"Li, H., Si, Y., Wu, L., Hu, X., Wang, Z., and Gao, H. (2010, January 8\u201310). Fault-tolerant output tracking control for a flexible air-breathing hypersonic vehicle. Proceedings of the International Symposium on Systems & Control in Aeronautics & Astronautics, Harbin, China.","DOI":"10.1109\/ISSCAA.2010.5634035"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/3\/643\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T12:30:54Z","timestamp":1760185854000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/3\/643"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,2,3]]},"references-count":35,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2019,2]]}},"alternative-id":["s19030643"],"URL":"https:\/\/doi.org\/10.3390\/s19030643","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,2,3]]}}}