Intelligent Discrete Sliding Mode Predictive Fault-Tolerant Control Method for Multi-Delay Quad-Rotor UAV System Based on DIECOA

This paper introduces a novel intelligent sliding mode predictive fault-tolerant control method based on the Dynamic Information Exchange Coyote Optimization Algorithm (DIECOA), which is applied to quad-rotor UAV system with multi-delay and sensor fault. First, nonlinearity fault are dealt by means of interpolation transformation state expansion, an equivalent obtained. Second, quasi-integral surface used construct prediction model so that initial located surface, global robustness guaranteed. Third, this improved disturbance compensation term, effectively weakens adverse effect time delays enhances FTC performance system. Fourth, (DIE) strategy designed further improve coyote individual replacement mechanism speeds up solution convergence speed in paper. Finally, simulation carried out platform Unmanned Aerial Vehicle (UAV), results show rationality method.