Adaptive fault-tolerant flight control for a quadrotor UAV with slung payload and varying COG

Tan, Lian; Shen, Zhixi; Yu, Shuangshuang

doi:10.1109/isass.2019.8757704

Cited by 9 publications

(4 citation statements)

References 14 publications

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“…The work in [89] proposes an adaptive control approach which provides reasonable trajectory efficiency for a quadrotor vehicle subjected to actuators failures and with timevarying center of gravity (COG). The results of the simulation show that the proposed adaptive algorithm is reliable, efficient and robust.…”

Section: Fault Tolerant Control Methods In Uavsmentioning

confidence: 99%

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Fourlas

Karras

2021

Machines

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The continuous evolution of modern technology has led to the creation of increasingly complex and advanced systems. This has been also reflected in the technology of Unmanned Aerial Vehicles (UAVs), where the growing demand for more reliable performance necessitates the development of sophisticated techniques that provide fault diagnosis and fault tolerance in a timely and accurate manner. Typically, a UAV consists of three types of subsystems: actuators, main structure and sensors. Therefore, a fault-monitoring system must be specifically designed to supervise and debug each of these subsystems, so that any faults can be addressed before they lead to disastrous consequences. In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs. Concerning fault diagnosis, our interest is mainly focused on sensors and actuators, as these subsystems are mostly prone to faults, while their healthy operation usually ensures the smooth and reliable performance of the aerial vehicle.

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Section: Fault Tolerant Control Methods In Uavsmentioning

confidence: 99%

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Fourlas

Karras

2021

Machines

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“…which gives us the velocity vectors of the hook. Differentiating (13) and accounting for the angular acceleration, we have…”

Section: Slung Load Dynamicsmentioning

confidence: 99%

“…In addition, an observer is introduced for estimating load angles. Previous control strategies include Linear Quadratic Regulator (LQR) [12], fault tolerant flight control [13], geometric control [14], nonlinear model predictive control [15], and neural networks [16].…”

Section: Introductionmentioning

confidence: 99%

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Variations in Finite-Time Multi-Surface Sliding Mode Control for Multirotor Unmanned Aerial Vehicle Payload Delivery with Pendulum Swinging Effects

Peris,

Norton,

Khoo

2023

Machines

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Multi-surface sliding mode control addresses the limitations of traditional sliding mode control by employing multiple sliding surfaces to handle uncertainties, disturbances, and nonlinearities. The design process involves developing sliding surfaces, designing switching logic, and deriving control laws for each surface. In this paper, first, a robust finite-time multi-surface sliding mode controller will be presented and its performance analyzed by applying it to a multirotor subjected to a suspended payload, modeled in the form of a single pendulum, itself defined as a spatial (3D) dynamic model. Next, an adaptive finite-time multi-surface sliding mode controller will be derived—adding a variable adaptive parameter to the existing sliding surfaces of the robust finite-time control—and applied to the same system. It will be shown that the adaptive controller, with an adaptive parameter that adjusts itself based on the present value of the multi-surface sliding mode parameter, creates an improved fast finite-time convergence by obtaining an optimal settling time and minimizing undershoot of the multirotor state vector. Empirical verification of the effectiveness of the adaptive control will be carried out by presenting the control performances against a step response. It is also shown that the control may be utilized to approximate external disturbances—represented by the pendulum—and that with the application of control, the vehicle’s motion may be stabilized and the payload swing suppressed. Lyapunov stability theory-based stability proofs for the controllers’ designs are developed, showing the asymptotic stability of the output and uniform boundedness of the errors in the system dynamics. It is verified that the multi-surface sliding mode control can account for system uncertainties—both matched and mismatched—in addition to changes in internal dynamics and disturbances to the system, where the single pendulum payload is representative of the changes in dynamics that may occur to the system. Numerical simulations and characteristics are presented to validate the performance of the controllers.

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Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

et al. 2020

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Quad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude stability seriously. Targeting the persistent disturbances, an entirely novel disturbance estimator (DE) which can estimate non-smooth disturbances in a highly accurate manner for feedback compensation is proposed in this paper. To deal with the sudden changes from prescribed references and the payloads that may induce too large overshoots and input surging, a type of predictive optimal controller, which considers tracking errors and their changing rates of a class of linear multiple-input-multiple-output systems, is developed. Simulation results show that the system enhanced by the DE has better control performance than the ones enhanced by the commonly used extended state observer or nonlinear disturbance observer. Compared with the typical control approaches, the proposed control scheme enables the quad-rotor attitude system more stable performance and more ideal inputs on both persistent disturbance and sudden change resisting during payload transportation. INDEX TERMS Quad-rotor, payload transportation, disturbance attenuation, predictive optimal control.

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Adaptive fault-tolerant flight control for a quadrotor UAV with slung payload and varying COG

Cited by 9 publications

References 14 publications

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Variations in Finite-Time Multi-Surface Sliding Mode Control for Multirotor Unmanned Aerial Vehicle Payload Delivery with Pendulum Swinging Effects

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

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