A Diagnostic Thau Observer for a Class of Unmanned Vehicles

Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea

doi:10.1007/s10846-012-9650-4

Cited by 57 publications

(13 citation statements)

References 21 publications

(25 reference statements)

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“…The load model and the quad-rotor model have to be coupled together and then used for control purposes. It is as follows (15) where TL is the force exherted by the load on the UAV and are a vector of FQL and MQL.…”

Section: Model Of the Quad Rotor With The Slung Loadmentioning

confidence: 99%

Load swing control for an Unmanned Aerial Vehicle with a slung load

El-Férik

Ahmed

Omar

2014

2014 IEEE 11th International Multi-Conference on Systems, Signals &Amp; Devices (SSD14)

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Research in the area of hauling loads using an Unmanned Aerial Ve hicle (UAV) has been very restricted. The main obstacle is that the model for the vehicle and the load together is not yet established and available. The next hurdle faced is while designing a controller for an underactuated UAY. Finally, the last obstacle is the control of the load swing during hauling. These challenges make it a very intriguing area of research. The aim of this work is to propose a model for the UAV with a slung load. A feedback linearization controller which helps in trajectory tracking of the UAV and a time-delayed feedback controller to stabilize the load swing angles are also proposed which work together to make the overall system stable. II. INTRODUCTIONUnmanned Aerial Ve hicles (UAVs) are being de ployed for many appliations in security, monitoring of natural risks of environment, intervention in hos tile environments, management of ground installa tions, agriculture and military. Deployment of UAVs helps to gather information in hostile environments without posing risk to flight crews and humans. In UAV's, rotary wing types are superior to the fixed wing type, because the rotary wing type UAVs are capable of Ve rtical Take Off and Landing (VTOL), omni-directional flying and hovering performances. VTOL is very important as runway space is not readily available for modern missions and tasks. Hovering is also important to do monitoring and surveillance. Rotary-wing type UAVs can be divided into quad-rotor and helicopter based on their shapes and structure. The advantages that the quad-rotor possesses over its counterparts is that it does not 978-1-4799-3866-7/14/$31.00 ©2014 IEEE 1 require mechanical linkages to vary rotor angle of attack as they spin. The use of four rotors allows each individual rotor to have a smaller diameter than the equivalent helicopter rotor allowing them to store less kinetic energy during flight and this reduces the damage caused by the rotors hitting any objects. They are very miniature, cost-effective, easily maneuverable and have low maintenance cost. In addition, by enclosing the rotors within a frame, the rotors can be protected during collisions. The control structure for the quad-rotor is one of the most important desing as it determines the operation and performance of the overall mission. The quad rotor being an under-actuated vehicle makes the control design challenging. A lot of research has been done in the area of stabilization of quad rotor angles and trajectory tracking. Different con trol methods have been developed and designed for stabilization and tracking. Tayebi (2008) proposed a quaternion based dynamic output feedback control scheme without the need of velocity measurements for attitude tracking. Bourquardez and Mahony et al. (2009) proposed an image based visual servo controller for regulation of the quadrotor. Raffo, G. Y., M. G. Ortega, et al. (2010) proposed a integral model predictive based nonlinear H infinity controller for the quadrotor. Dierks and Jagannathan (2010) p...

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Section: Model Of the Quad Rotor With The Slung Loadmentioning

confidence: 99%

Load swing control for an Unmanned Aerial Vehicle with a slung load

El-Férik

Ahmed

Omar

2014

2014 IEEE 11th International Multi-Conference on Systems, Signals &Amp; Devices (SSD14)

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“…Defining as the state vector, as the input vector and as the output vector, then the system described in (1) can be rewritten in the state-space form as:…”

Section: A Quadrotor Modelmentioning

confidence: 99%

“…Due to the recent advances in sensing, communication, computing, and control technologies, Unmanned Aerial Vehicles (UAVs) have become vitally important in the engineering applications and our life like surveillance and search and rescue [1,2] . As an example of UAV systems, the quadrotor helicopter is relatively a simple, affordable and easy to fly system and thus it has been widely used to develop, implement and test-fly methods in control, fault diagnosis, Fault Tolerant Control(FTC) as well as multiagent based technologies in formation flight, cooperative control, distributed control, mobile wireless networks and communications [3] .…”

Section: Introductionmentioning

confidence: 99%

A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs

Cen

Noura

2013

2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)

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This paper proposed a novel composite Fault Tolerant Control (FTC) approach based on fault estimation for quadrotor actuator fault. Firstly, an Adaptive Thau Observer is used to estimate the actuator fault magnitudes, and then faults with different time-varying natures are classified into corresponding fault severity levels based on the predefined fault-tolerant bounds. Secondly, a composite FTC strategy including passive and active FTC is designed to compensate fault for different fault severity levels. Unlike former single passive and active FTC, our proposed FTC can compensate fault in a way of Condition-Based Maintenance (CBM) and is more suitable for complex and time-varying fault, which is general in practice. Finally, Different simulations have been carried out to show the performance and effectiveness of the proposed method.

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“…Although the efficiency of above approaches has been proved, the relevant algorithms are complex, leading to the real-time performance difficult to satisfy the requirement of highspeed magnetic bearing applications. Freddi et al [33] investigated a model-based fault-diagnosis which can be used to monitor sensor faults and detect actuator faults. In this method, residuals are used to distinguish between system and observer outputs, but these methods are inaccurate and unsuitable for quantifying the magnitude of a fault.…”

Section: Introductionmentioning

confidence: 99%

An online fault-diagnosis of electromagnetic actuator based on variation characteristics of load current

Cheng

et al. 2019

Automatika

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Accurate and fast fault-diagnosis is the foundation of fault-tolerance. To develop the faulttolerance of magnetic-levitated bearing system, this paper presents an online fault-diagnosis approach of electromagnetic actuator based on variation characteristics of sampled load current in the modulation to identify the time constant of the electromagnetic coil, and then to diagnose the broken circuit or partial short-circuit faults. After analysing the variation characteristics of the load current theoretically, the simulation is constructed to verify the effectiveness of the proposed approach. Considering the real-time requirement of fault-diagnosis, we develop a fast sampling and calculating method for the equivalent slope of the load current in the modulation, which represents the variation characteristics of the load current. The experimental results demonstrate that the proposed approach is effective for diagnosing broken circuit and partial short-circuit faults, and the execution time for the fault-diagnosis is about 2 ms, proving its excellent real-time performance.

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A Diagnostic Thau Observer for a Class of Unmanned Vehicles

Cited by 57 publications

References 21 publications

Load swing control for an Unmanned Aerial Vehicle with a slung load

Load swing control for an Unmanned Aerial Vehicle with a slung load

A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs

An online fault-diagnosis of electromagnetic actuator based on variation characteristics of load current

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