Active Fault Tolerant Control of a quadrotor UAV based on gainscheduled PID control

Abstract

In this paper, an Active Fault-Tolerant Control (AFTC) technique is developed and applied to an unmanned quadrotor helicopter UAV (Unmanned Aerial Vehicle, known also as Qball-X4) with 6 degrees of freedom based on a Gain-Scheduled Proportional-Integral Derivative (GS-PID) control technique. For implementing such an AFTC system, a Fault-Detection and Diagnosis (FDD) block is essential and implemented to detect and identify the actuator fault. The FDD block is implemented based on the OptiTrack visual feedback for providing information needed by GS-PID to switch from one set of pre-tuned controller gains for normal (pre-fault) condition to another set of controller gains tuned for faulty (post-fault) conditions in the presence of an actuator fault in the Qball-X4 UAV. Finally, experimental testing results are presented to demonstrate the effectiveness of the proposed active fault-tolerant control strategy based on the GS-PID control technique.

Bi̇r Döner Kanata Ariza Toleransli Uçuş Kontrol Si̇stemi̇ Tasarimi

“…Sadeghzadeh vd. [10] Qball-X4 hava aracının yükseklik kontrolü için kazanç ayarlamalı PID kullanarak bir aktif arıza toleranslı kontrol tekniği ileri sürmüşlerdir. Yapılan çalışmada kazanç ayarlamalı PID denetleyicinin klasik PID denetleyiciye göre eyleyici arızası durumunda daha az irtifa kaybı yaşadığını gözlemlemişlerdir.…”

Fault Tolerant Control of Hexacopter for Actuator Faults using Time Delay Control Method

“…However, there are still remaining issues need to be resolved. Several researches have been performed in the area of fault tolerant control law design of the multi-rotor aircraft with the multi motor faults but few control schemes are available [1,2]. Y. M. Zhang et al presented active fault tolerant control scheme for actuator failures based on a two-state adaptive Kalman filter [3].…”

“…The gain scheduled PID control technique was employed to compensate actuator fault due to overall loss in power of all motors in quadrotor UAV [1]. Although, fault tolerant controller (FTC) for a single actuator failure has been developed, FTC was never successfully implemented for multiple faults of a multi-rotor UAV.…”

“…This approach does not require fault detection and diagnosis schemes or controller reconfiguration. Extensive studies on passive FTC have been performed to develop the attitude controller for multi-rotor vehicle considering actuator faults [1,2,6]. The passive FTC has an advantage that can be implemented as a fixed controller.…”

Controlling a VTOL in 2-DOF Subspaces

“…For instance, a PID controller is derived and compared to LQR and backstepping techniques in [1]. In [2] a gain scheduled PID technique is applied to quadrotor with some fault conditions. There is an example of a sliding mode controller for altitude control is shown [3].…”