A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances

Wang, Ban; Peng, Haoping; Zhang, Wei

doi:10.1155/2021/6672812

Cited by 9 publications

(5 citation statements)

References 39 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…erefore, a controller was proposed with a power reduction methodology and cuckoo search algorithm (CSA) for tuning the controller gains to control the quadrotor position by a PID controller while the orientation control is achieved through a model-based controller [24]. A control strategy composed of a sensor fault diagnosis unit and a disturbance observerbased sliding-mode controller for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances were developed and analyzed [25]. Another fault-tolerant control scheme [26] was proposed for attitude control using adaptive sliding-mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances.…”

Section: Literature Surveymentioning

confidence: 99%

Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking

Abdulkareem

Oguntosin

Popoola

et al. 2022

Journal of Engineering

View full text Add to dashboard Cite

This paper presents an adequate mathematical representation of a quadcopter’s system dynamics and effective control techniques. A quadcopter is an unmanned aerial vehicle (UAV) that is able to do vertical take-off and landing. This study presents a nonlinear quadcopter system’s mathematical modeling and control for stabilization and trajectory tracking. The mathematical model of the system dynamics of the quadcopter is derived using Newton and Euler equations with proper references to the appropriate frame or coordinate system. A PD control algorithm is developed for the nonlinear system for stabilization. Another nonlinear control technique called full state feedback linearization (FBL) using nonlinear dynamic inversion (NDI) is developed and implemented on the quadcopter system. However, there is a problem with the normal approach of the complete derivation of the full state FBL system using NDI as gathered from the literature review. In such an approach, the PD controller that was used for attitude stabilization was able to stabilize the angles to zero states, but the position variables cannot be stabilized because the state variables are not observable. Thus, a new approach where the position variables are mapped to the angle variables which are controllable so as to drive all states to zero stability was proposed in this study. The aim of the study was achieved but the downside is that it takes a longer time to achieve this stability so it is not efficient and should only be considered when absolute zero stability is the aim without considering time efficiency. The study further investigates the problem of nonlinear quadcopter system’s mathematical modelling and control for stabilization and trajectory tracking using the feedback linearization (FBL) technique combined with the PD controller. The proposed control algorithms are implemented on the quadcopter model using MATLAB and analyzed in terms of system stabilization and trajectory tracking. The PD controller produces satisfactory results for system stabilization, but the FBL system combined with the PD controller performs better for trajectory tracking of the quadcopter system.

show abstract

Section: Literature Surveymentioning

confidence: 99%

Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking

Abdulkareem

Oguntosin

Popoola

et al. 2022

Journal of Engineering

View full text Add to dashboard Cite

show abstract

“…The aircraft is very likely to be affected by external disturbances such as complex wind flow. 14 Moreover, not all system parameters can be easily measured, such as the aerodynamic damping coefficients, rotational inertial moments, the deviation of the gravity and so on. While few of the previous works have considered these issues, which are inevitable in practical control.…”

Section: Introductionmentioning

confidence: 99%

“…It is important to note that, quadrotors, including both variable‐ and fixed‐pitch ones, are typical nonlinear dynamic systems with strong couplings and open‐loop instability characteristics. The aircraft is very likely to be affected by external disturbances such as complex wind flow 14 . Moreover, not all system parameters can be easily measured, such as the aerodynamic damping coefficients, rotational inertial moments, the deviation of the gravity and so on.…”

Section: Introductionmentioning

confidence: 99%

Robust attitude tracking control for a variable‐pitch quadrotor with uncertainties

Zhao,

Yue,

Yang

2024

Adaptive Control & Signal

View full text Add to dashboard Cite

SummaryVariable‐pitch quadrotors have demonstrated their capability to enhance control performance and overcome limitations compared to conventional fixed‐pitch quadrotors, while still facing challenges such as nonlinearity, couplings, uncertainties and so on. This article aims to address the robust attitude control problem of variable‐pitch quadrotors afflicted with parametric uncertainties and unpredictable external disturbances. Initially, a practical actuator allocation strategy for the motor‐propeller is proposed, followed by the development of a nonlinear robust attitude tracking controller capable of addressing all uncertainties. The effectiveness of the proposed controller in ensuring exponential stability of the closed‐loop system, thereby driving the attitude tracking error to a small range within a finite time, has been substantiated. To evaluate the control performance, a hardware‐in‐the‐loop testbed is constructed to conduct real‐time experiments. The experimental results from attitude control case, comparative case, and position control case demonstrate that the designed motor‐propeller allocation method and robust controller are effective in achieving a fast response and excellent control performance.

show abstract

“…Sensor fault estimation was injected to the PID controller for fault accommodation. The work in 25 addressed sensor fault in the attitude system using a sliding mode observer and integral SMC. A fault compensation algorithm with a feedback controller and unknown input observer was presented in 26 .…”

Section: Introductionmentioning

confidence: 99%

Integral terminal sliding mode fault tolerant control of quadcopter UAV systems

Nguyen,

Pitakwachara

2024

Sci Rep

View full text Add to dashboard Cite

The article presents an active fault-tolerant control scheme with an integral terminal sliding mode controller for the UAV systems. This scheme effectively addresses saturation issues, disturbances, and sensor and actuator faults. Initially, the quadcopter UAV's model is represented in state space form. Subsequently, an augmented system incorporating auxiliary states from sensor faults is developed. An adaptive sliding mode observer is proposed for estimating the actuator and sensor faults. The integral terminal sliding mode fault-tolerant control, designed for altitude and attitude regulation, relies on fault estimation data. In contrast, a cascade proportional-integral-derivative (PID) controller is employed for position control. Simulation results demonstrate the superiority of the proposed method over existing control algorithms.

show abstract

A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances

Cited by 9 publications

References 39 publications

Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking

Modeling and Nonlinear Control of a Quadcopter for Stabilization and Trajectory Tracking

Robust attitude tracking control for a variable‐pitch quadrotor with uncertainties

Integral terminal sliding mode fault tolerant control of quadcopter UAV systems

Contact Info

Product

Resources

About