Emergency Control of AR Drone Quadrotor UAV Suffering a Total Loss of One Rotor

Merheb, Abdel-Razzak; Noura, Hassan; Bateman, François

doi:10.1109/tmech.2017.2652399

Cited by 75 publications

(34 citation statements)

References 9 publications

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“…Notice that the solution of (19) is also the solution of (23), and the solution of (21) is also the solution of (23). As the solutions of (23), (19), and (21) are all unique, we can conclude the solutions of (19) and (21) are the same.…”

Section: Solution Uniqueness and Existencementioning

confidence: 76%

“…The purpose of the isolation is to obtain the actual actuator effect by finding out the location of the fault and then solving (19). Given the location of the actuator fault, it is seen that solving (19) is tractable.…”

Section: Solution Uniqueness and Existencementioning

confidence: 99%

“…Removing the i-th and j-th components, the remaining parts of (19) and (21) are the same. We write the shared part of (19) and (21)…”

Section: Solution Uniqueness and Existencementioning

confidence: 99%

“…In [18], several fault detection and diagnosis (FDD) and fault-tolerant control (FTC) techniques are applied to unmanned quadrotor aerial vehicles. In [19], the emergency fault-tolerant controller for quadrotor UAVs suffering from a total loss of one actuator is considered. Experimental test of the Kalman filter-based fault-tolerant control is presented in [20].…”

Section: Introductionmentioning

confidence: 99%

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Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

Dong

2019

International Journal of Aerospace Engineering

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In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed fault-tolerant control algorithm contains a baseline controller, the fault detection and isolation scheme, and the controller reconstruction module. A robust parameter identification method is designed to identify the torque and thrust generated by the actuators. The feasibility of isolating the fault for the redundant actuators is analyzed through mathematical proof. Through the analysis, the practical fault isolation algorithm is also proposed. Two typical aerial vehicles with redundant actuators, an eight-rotor aircraft and a hexa-rotor aircraft, are adopted in numerical simulations to verify the effectiveness of the proposed fault-tolerant control approach.

show abstract

Section: Solution Uniqueness and Existencementioning

confidence: 76%

Section: Solution Uniqueness and Existencementioning

confidence: 99%

“…Removing the i-th and j-th components, the remaining parts of (19) and (21) are the same. We write the shared part of (19) and (21)…”

Section: Solution Uniqueness and Existencementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

Dong

2019

International Journal of Aerospace Engineering

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“…In [23], a quadcopter was switched to birotor operation to achieve a safe landing, i.e., cutting power to the motor directly opposite to the failing rotor. Merheb et al [24] proposed an emergency controller to control the trajectory using additional mass. However, none of these studies examined the fault diagnosis scheme [11,[21][22][23][24], which is what partly motivated the present research.…”

Section: Related Reviewmentioning

confidence: 99%

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Nguyen

Hong

2019

Energies

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Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.

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Controllability analysis and controller design for variable‐pitch propeller quadcopters with one propeller failure

2020

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This paper studies a relatively new type of aerial platform: variable-pitch propeller (VPP) quadcopters. Unlike conventional fixed-pitch propellers that can only generate upward thrust forces, a VPP can adjust its pitch angle to generate either upward or downward thrust forces. This provides VPP quadcopter with high agility and strong maneuverability. Although VPP quadcopters have attracted some attention recently, their potential has not been fully explored yet. In this paper, we study the faulttolerant property of VPP quadcopters when one of the four VPPs fails to provide any forces or torques. We identify the equilibrium state in this case and conduct the controllability analysis based on a linearised model. This shows that the system remains controllable even if one propeller fails. As a result, simple LQR controllers can be used to control the platform. Although the controllability analysis and controller are based on the linearised model, numerical simulation incorporating measurement noises and external disturbances verifies the theoretic findings.

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Emergency Control of AR Drone Quadrotor UAV Suffering a Total Loss of One Rotor

Cited by 75 publications

References 9 publications

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Controllability analysis and controller design for variable‐pitch propeller quadcopters with one propeller failure

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