Fault-Tolerant Fuzzy Gain-Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults

Amoozgar, Mohammad Hadi; Chamseddine, Abbas; Zhang, Youmin

doi:10.3182/20120328-3-it-3014.00048

Cited by 53 publications

(23 citation statements)

References 13 publications

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“…Due to the space limit, further details of the design procedure is omitted here. Readers can refer to other literature for the similar design method [27].…”

Section: Control System Designmentioning

confidence: 99%

Path following control of unmanned quadrotor helicopter with obstacle avoidance capability

Liu

Ciarletta

Chen

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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This paper proposes a new path following methodology combining with a obstacle avoidance scheme for unmanned quadrotor helicopter (UQH) capable of working in the cluttered and hazardous environments. A new cross-track error prediction based mechanism, where the cross-track error is estimated by utilizing the extend Kalman filter (EKF), is first developed for the path following scheme. Then, the UQH is equipped with obstacle avoidance capability employing a lightcomputational approach, the visibility graph algorithm. The priority of UQH is to switch to obstacles avoidance maneuvering in the presence of obstacles, and continue to execute the assigned mission after avoiding all hazardous objects blocking the desired path. The control system developed for attitude and position control of UQH is also introduced. Finally, extensive simulation studies on a nonlinear model of UQH with a series of dangerous scenarios are conducted to demonstrate the effectiveness of the proposed methodology.

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“…Due to the space limit, further details of the design procedure is omitted here. Readers can refer to other literature for the similar design method [27].…”

Section: Control System Designmentioning

confidence: 99%

Path following control of unmanned quadrotor helicopter with obstacle avoidance capability

Liu

Ciarletta

Chen

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

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“…Bulanık mantık temelli PID denetleyici ile eyleyici arızası durumunda döner kanat kontrolü Amoozgar vd. [15] tarafından yapılmıştır. Çalışmada bozucu etki ve belirsizlik varlığında bulanık PID denetleyicinin klasik PID denetleyiciye göre az miktarda da olsa daha az aşma ve daha hızlı yükselme zamanına sahip olduğu sonucuna varılmıştır.…”

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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“…In this case even various fault combinations induce the same rigid-body dynamics so that uniquely identifying the faults from the rigid-body states may not possible without introducing constraining assumptions [10]. Because of these reasons, in the literature most of the approaches applied to multirotor systems intend to avoid FDI filters [13], [14], [15], [16], [17].…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant position tracking of a hexacopter using an Extended State Observer

Falconí

Heise

Holzapfel

2015

2015 6th International Conference on Automation, Robotics and Applications (ICARA)

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A position tracking controller for a hexacopter is presented which is robust against disturbances like modeling errors or propulsion efficiency degradation. The presented controller stands out because of its simple design which does not resort to reconfiguration and avoids the necessity of a Failure Detection and Isolation (FDI) filter. The baseline controller has a cascaded structure with two loops. The outer loop corresponds to the position and velocity control and is designed using linear control. The inner loop corresponds to the attitude control which is a Nonlinear Dynamic Inversion (NDI). The baseline controller is augmented by an Extended State Observer (ESO) which provides an estimate of the disturbances and modeling errors which is then fed back to the control law. The performance as well as the robustness of the control system is significantly improved as demonstrated in simulation, where controlled flight is achieved even under severe actuator degradation.

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Fault-Tolerant Fuzzy Gain-Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults

Cited by 53 publications

References 13 publications

Path following control of unmanned quadrotor helicopter with obstacle avoidance capability

Path following control of unmanned quadrotor helicopter with obstacle avoidance capability

Bi̇r Döner Kanata Ariza Toleransli Uçuş Kontrol Si̇stemi̇ Tasarimi

Fault-tolerant position tracking of a hexacopter using an Extended State Observer

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