A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles

Freddi, Alessandro; Lanzon, Alexander; Longhi, Sauro

doi:10.3182/20110828-6-it-1002.02016

Cited by 124 publications

(58 citation statements)

References 12 publications

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“…As a consequence, it cannot even deal with H. Alwi and C. Edwards are with the College of Engineering, Mathematics and Physical Sciences, University of Exeter, EX4 4QF, UK. h.alwi@exeter.ac.uk, C.Edwards@exeter.ac.uk the scenario in which one of its rotors totally fails (the only exception is the work of [12] which sacrifices yaw control in order to maintain roll and pitch control). A six (hexrotor [13], [14]) or eight (octorotor [15], [16], [17]) rotor configuration is a much more suitable platform for testing FTC schemes due to the extra available redundancy, which provides greater flexibility for testing.…”

Section: Introductionmentioning

confidence: 99%

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Alwi

Edwards

2015

IET Control Theory & Applications

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Abstract-This paper presents two fault tolerant control (FTC) schemes for an octorotor UAV. The FTC schemes are based on an LPV system representation and utilizes a combination of sliding mode ideas and control allocation in order to take full advantage of the available redundant rotors in the octorotor configuration. A detailed synthesis procedure for the design of the two FTC schemes in the presence of uncertainty, as well as faults/failures, is presented. The first scheme is based on an online control allocation methodology where knowledge of the rotor effectiveness level has been used to redistribute the control signals to the healthy rotors. The second scheme assumes that this information is not available and uses a fixed control allocation structure even in the event of faults/failures. Although the synthesis process for the two schemes is different and they use different strategies to redistribute the control signals when faults/failures occur, both schemes involved the same 'baseline' (sliding mode) controller which does not need to be reconfigured. The difference is in the final physical control law where the control allocation matrix is defined. Simulation results on the full nonlinear octorotor model are presented for the two different schemes in the presence of uncertainty, sensor noise as well as faults/failures. The simulation results for various fault/failure scenarios show no visible degradation in state tracking performance, highlighting the potential of the proposed schemes.

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Section: Introductionmentioning

confidence: 99%

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Alwi

Edwards

2015

IET Control Theory & Applications

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“…In order to verify (19), the bounds for both the thrust u and the perturbation term δ(η b , θ d , e θ ) are provided. Taking into account (9), (12), (17), the following bound holds…”

Section: Theorem 1 Consider the Perturbed Systemsmentioning

confidence: 99%

“…Other methods consider instead the complete failure of a quadrotor's propeller. A feedback linearization with a PDbased controller is employed in [19], but no stability analysis and coupling effects between inner and outer loops are considered. An equidistant trirotor is taken into account in [20], but the designed control law is valid only for spiral motions.…”

Section: Introductionmentioning

confidence: 99%

Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

Lippiello

Ruggiero

Serra

2014

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)

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A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.

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“…Later on the slung load is mod eled and then integrated with the quad-rotor. movement of the quadrotor with respect to the earth inertial frame can be described by using the combined vector of � and 'rJ given by (1) The forces that act on the quadrotor are analyzed and the quadrotor dynamics are derived by it. The thrust force, the weight force and the drag terms are all included to ensure better modeling and control.…”

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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A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles

Cited by 124 publications

References 12 publications

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

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

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