Actuator Fault-Tolerant Control Architecture for Multirotor Vehicles in Presence of Disturbances

Baldini, Alessandro; Felicetti, Riccardo; Freddi, Alessandro; Longhi, Sauro; Monteriù, Andrea

doi:10.1007/s10846-020-01150-y

Cited by 13 publications

(5 citation statements)

References 32 publications

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“…Finally, through numerical simulations, we demonstrate the flight characteristics of this novel multirotor UAV and verify the effectiveness of our proposed control scheme. For the flight control system of a multirotor UAV, there are many factors that can affect the flight performance, such as actuator fault, sensor failures, 32,33 and data dropouts. 34,35 Therefore, in future research, we will consider these factors and propose solutions to address them.…”

Section: Discussionmentioning

confidence: 99%

An adaptive trajectory tracking control scheme for a novel fully actuated multirotor unmanned aerial vehicle without using velocity signals

Shu,

Xie,

et al. 2024

Adaptive Control & Signal

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SummaryThis paper introduces a novel fully actuated multirotor unmanned aerial vehicle (UAV) and develops an adaptive control scheme for it without relying on velocity signals. Conventional multirotors are limited by their strong coupling between translation and rotation motion, which makes it difficult to operate one motion without affecting the other. However, this novel multirotor's fully actuated design allows for independent translation and rotation motion, leading to better operational performance and expanded application scope. Additionally, velocity measurement signals can be prone to noise pollution and signal drift, making them unreliable for control purposes. Therefore, this proposed control scheme is developed without using velocity signals. The study utilizes a control performance improving method and guarantees stability of the closed‐loop system using the direct Lyapunov method. Finally, numerical simulations are employed to demonstrate the effectiveness of the proposed control scheme.

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Section: Discussionmentioning

confidence: 99%

An adaptive trajectory tracking control scheme for a novel fully actuated multirotor unmanned aerial vehicle without using velocity signals

Shu,

Xie,

et al. 2024

Adaptive Control & Signal

View full text Add to dashboard Cite

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“…In the PSD atmospheric turbulence model, the wind turbulences are regarded as random fluctuations in a continuous random process (Baldini et al , 2020). White noise is a random signal that provides constant PSD, possessing equal intensity at a certain band of frequencies.…”

Section: Simulationmentioning

confidence: 99%

Cascade control for heterogeneous multirotor UAS

Hoshu

Wang

Fisher

et al. 2021

IJIUS

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PurposeDespite of the numerous characteristics of the multirotor unmanned aircraft systems (UASs), they have been termed as less energy-efficient compared to fixed-wing and helicopter counterparts. The purpose of this paper is to explore a more efficient multirotor configuration and to provide the robust and stable control system for it.Design/methodology/approachA heterogeneous multirotor configuration is explored in this paper, which employs a large rotor at the centre to provide majority of lift and three small tilted booms rotors to provide the control. Design provides the combined characteristics of both quadcopters and helicopters in a single UAS configuration, providing endurance of helicopters keeping the manoeuvrability, simplicity and control of quadcopters. In this paper, rotational as well as translational dynamics of the multirotor are explored. Cascade control system is designed to provide an effective solution to control the attitude, altitude and position of the rotorcraft.FindingsOne of the challenging tasks towards successful flight of such a configuration is to design a stable and robust control system as it is an underactuated system possessing complex non-linearities and coupled dynamics. Cascaded proportional integral (PI) control approach has provided an efficient solution with stable control performance. A novel motor control loop is implemented to ensure enhanced disturbance rejection, which is also validated through Dryden turbulence model and 1-cosine gust model.Originality/valueRobustness and stability of the proposed control structure for such a dynamically complex UAS configuration is demonstrated with stable attitude and position performance, reference tracking and enhanced disturbance rejection.

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“…The first component is the fault diagnosis unit responsible for detecting, isolating, and identifying the fault. A second unit is a reconfiguration unit that employs an appropriate methodology that can compensate for the appearance of faults so that the UAV continues its flight mission or lands safely [2]. However, the reconfigurability of multirotor UAVs is possible whenever the UAV is designed so that it allows alternative actuator distribution to compensate for failed actuators.…”

Section: Introductionmentioning

confidence: 99%

Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

et al. 2022

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Presently, multirotor unmanned aerial vehicles (UAV) are utilized in numerous applications. Their design governs the system’s controllability and operation performance by influencing the achievable forces and moments produced. However, unexpected causalities, such as actuator failure, adversely affect their controllability, which raises safety concerns about their service. On the other hand, their design flexibility allows further design optimization for various performance requirements, including actuator failure tolerance. Thus, this study proposed an optimization framework that can be employed to design a novel actuator fault-tolerant multirotor UAV configuration. The approach used an attainable moment set (AMS) to evaluate the achievable moment from a multirotor configuration; similarly, standard deviation geometries (SDG) were employed to define performance requirements. Therefore, given a UAV configuration, actuator fault situation, and SDG derived from the designed mission requirement, the suggested optimization framework maximizes the scaling factor of SDG and fits it into the AMS by adjusting the design parameters up to a sufficient margin. The framework is implemented to optimize selected parameters of the Hexacopter-type of parcel delivery multirotor UAV developed by the PNU drone, and a simulation was conducted. The result showed that the optimized configuration of the UAV achieved actuator fault tolerance and operation-performing capability in the presence of a failed actuator.

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Actuator Fault-Tolerant Control Architecture for Multirotor Vehicles in Presence of Disturbances

Cited by 13 publications

References 32 publications

An adaptive trajectory tracking control scheme for a novel fully actuated multirotor unmanned aerial vehicle without using velocity signals

An adaptive trajectory tracking control scheme for a novel fully actuated multirotor unmanned aerial vehicle without using velocity signals

Cascade control for heterogeneous multirotor UAS

Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

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