Fault tolerant control of a quadrotor UAV using sliding mode control

Sharifi, Farid; Mirzaei, Mostafa; Gordon, Brandon W.; Zhang, Youmin

doi:10.1109/systol.2010.5675979

Cited by 152 publications

(75 citation statements)

References 14 publications

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“…Using the fact that at steady hover p = q = r =z b = ϕ = θ = 0 and assuming all eight rotor speeds are the same, then from (15), τ 1 (t) = 8bΩ 2 1 , and solving for one of the rotors yields…”

Section: Designsmentioning

confidence: 99%

“…However, despite this attention and the fact that some of the schemes are becoming reasonably 'mature', there are two factors which are significant obstacles to further testing of state-of-the-art schemes -especially for aerospace applications: these are cost and safety. In response to these two factors, there has been significant interest in applying state-of-the-art FTC schemes to multi-rotor UAVs -particularly to the so-called quadrotor (see for example [1], [2], [3], [4], [5]). This is largely due to their simple build, relatively low cost, and the convenience of undertaking tests in a controlled safe laboratory environment.…”

Section: Introductionmentioning

confidence: 99%

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Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Alwi

Edwards

2015

IET Control Theory & Applications

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Abstract-This paper presents two fault tolerant control (FTC) schemes for an octorotor UAV. The FTC schemes are based on an LPV system representation and utilizes a combination of sliding mode ideas and control allocation in order to take full advantage of the available redundant rotors in the octorotor configuration. A detailed synthesis procedure for the design of the two FTC schemes in the presence of uncertainty, as well as faults/failures, is presented. The first scheme is based on an online control allocation methodology where knowledge of the rotor effectiveness level has been used to redistribute the control signals to the healthy rotors. The second scheme assumes that this information is not available and uses a fixed control allocation structure even in the event of faults/failures. Although the synthesis process for the two schemes is different and they use different strategies to redistribute the control signals when faults/failures occur, both schemes involved the same 'baseline' (sliding mode) controller which does not need to be reconfigured. The difference is in the final physical control law where the control allocation matrix is defined. Simulation results on the full nonlinear octorotor model are presented for the two different schemes in the presence of uncertainty, sensor noise as well as faults/failures. The simulation results for various fault/failure scenarios show no visible degradation in state tracking performance, highlighting the potential of the proposed schemes.

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Section: Designsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Alwi

Edwards

2015

IET Control Theory & Applications

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“…This control strategy is to land the quadrotor safely (Sharifi et al, 2010). If the fault severity exceeds the range of AFTC fault-tolerance capacity and enters into the fault parking area, the fault-parking strategy is adopted to make the system change into a stable state.…”

Section: Safe Fault Parking Controllermentioning

confidence: 99%

Systematic Fault Tolerant Control Based on Adaptive Thau Observer Estimation for Quadrotor Uavs

Cen

Noura

Younes

2015

International Journal of Applied Mathematics and Computer Science

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A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out to show the performance and effectiveness of the proposed method.

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“…Sharifi vd. [14] döner kanatın motor arızası ve bozucu etki varlığında kayma kipli kontrol yaklaşımıyla hava aracını kontrol etmişlerdir. Bir durum kestirici kullanarak motor arızasını doğru bir şekilde tespit etmişlerdir.…”

Section: Gi̇ri̇ş (Introduction)unclassified

Bi̇r Döner Kanata Ariza Toleransli Uçuş Kontrol Si̇stemi̇ Tasarimi

Kiyak¹,

Ermeydan²

2017

Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi

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Bu çalışmada bir döner kanatın farklı motor arıza senaryolarının geliştirilmiş PID denetleyici yaklaşımıyla arıza toleranslı kontrolü yapılmıştır. Denklemleri verilen hava aracının motor dinamikleri de modellenerek gerçekçi bir benzetim elde edilmiştir. Doğrusal olmayan model doğrusallaştırılarak uygun denetleyici yapıları oluşturulmuş, sonrasında bu yapı doğrusal olmayan modelde kullanılmıştır. Son olarak farklı motor arıza senaryoları üzerinden tasarlanan kontrol yapısının gürbüz bir yapı oluşturup oluşturmadığı sınanmıştır. Benzetim sonuçları incelendiğinde, tasarlanan kontrol sisteminin değişik şartlar altında gürbüz bir davranış sergilediği görülmüştür.

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Fault tolerant control of a quadrotor UAV using sliding mode control

Cited by 152 publications

References 14 publications

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Sliding mode fault‐tolerant control of an octorotor using linear parameter varying‐based schemes

Systematic Fault Tolerant Control Based on Adaptive Thau Observer Estimation for Quadrotor Uavs

Bi̇r Döner Kanata Ariza Toleransli Uçuş Kontrol Si̇stemi̇ Tasarimi

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