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

Jang-Ho, Lee; Choi, Hyoung Sik; Shim, Hyunchul

doi:10.5139/ijass.2016.17.1.54

Cited by 18 publications

(6 citation statements)

References 15 publications

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“…The comparative simulations results showed the superiority of the proposed controller in performing the task. In another study, Lee et al [166], developed a new attitude tracking control of a hexacopter UAV subjected to a failure in one or multiple rotors subjected to external disturbances by utilizing a time delay control strategy. In this study, the superiority of the proposed strategy by adding durability and efficiency to the vehicle was illustrated when compared with the conventional PID control.…”

Section: Multi-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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Section: Multi-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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“…In the literature, hexacopters have been a popular platform to study controllability because they seem to be robust to the failure of up to two rotors and be able to fly like quadrotors. Interestingly, however, researchers have shown that symmetric and collinear hexacopters subject to a single rotor failure are not fully controllable [14], and controllers with limited attitude controllability have been developed [11,15]. As such, carefully designed control laws can handle certain rotor failure cases that they are intended for, but it is difficult to come up with a set of control laws that can cope with all possible cases of rotor failures.…”

Section: A Related Workmentioning

confidence: 99%

Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure

Kim

Rahili

Shi

et al. 2019

AIAA Scitech 2019 Forum

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A new design method for multi-rotor aircraft with distributed electric propulsion is presented to ensure a property of robustness against rotor failure from the control perspective. Based on the concept of null controllability, a quality measure is derived to evaluate and quantify the performance of a given design with the consideration of rotor failure. An optimization problem whose cost function is based on the quality measure is formulated and its optimal solution identifies a set of optimal design parameters that maximizes an aircraft's ability to control its attitude and hence its position. The effectiveness of the proposed design procedure is validated through the results of experimentation with the Autonomous Flying Ambulance model being developed at Caltech's Center for Autonomous Systems and Technologies.

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“…In [22], an incremental backstepping fault-tolerant control is proposed for a hexacopter under an unknown control degradation occurring in the propulsion system. In [23], a Time Delay Control (TDC) method is presented to address single or multiple failure in the actuator. However, most of the above studies are tested and validated by simulation.…”

Section: Introductionmentioning

confidence: 99%

Actuator Fault Detection and Fault-Tolerant Control for Hexacopter

Nguyen

Xuan-Mung

Hong

2019

Sensors

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In this paper, fault detection and fault-tolerant control strategies are proposed to handle the issues of both actuator faults and disturbances in a hexacopter. A dynamic model of a hexacopter is first derived to develop a model-based fault detection system. Secondly, the altitude control based on a sliding mode and disturbance observer is presented to tackle the disturbance issue. Then, a nonlinear Thau observer is applied to estimate the states of a hexacopter and to generate the residuals. Using a fault detection unit, the motor failure is isolated to address the one or two actuator faults. Finally, experimental results are tested on a DJI F550 hexacopter platform and Pixhawk2 flight controller to verify the effectiveness of the proposed approach. Unlike previous studies, this work can integrate fault detection and fault-tolerant control design as a single unit. Moreover, the developed fault detection and fault-tolerant control method can handle up to two actuator failures in presence of disturbances.

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

Cited by 18 publications

References 15 publications

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure

Actuator Fault Detection and Fault-Tolerant Control for Hexacopter

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