Fault Tolerant Model Predictive Control of Quad-Rotor Helicopters with Actuator Fault Estimation

Izadi, Hojjat A.; Zhang, Youmin; Gordon, Brandon W.

doi:10.3182/20110828-6-it-1002.03709

Cited by 63 publications

(28 citation statements)

References 17 publications

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“…Unfortunately, in all mentioned methods, sensitivity of control systems to parameter variation is not completely investigated, or distinct mechanism for disturbance rejection is not introduced. In Izadi et al (2011), Model Predictive Control (MPC) is applied to calculate a stabilizing control signal and satisfy saturation constraint during abrupt changes in the quadrotor dynamics; however, gyroscopic effects resulting from the rigid body rotation are neglected, and simplified dynamics of quadrotor is utilized. To the best of authors' knowledge, the problem of disturbance rejection and input saturation for full nonlinear uncertain model of quadrotor is not investigated simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV) in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO) is developed for multi-input multi-output (MIMO) nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC) technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

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Section: Introductionmentioning

confidence: 99%

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Navabi

Mirzaei

2017

Lat. Am. j. solids struct.

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“…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%

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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“…So, it is more flexible than PFTC and can compensate faults with large magnitude which cannot be compensated by PFTC. Some previous works on AFTC of quadrotor in [8][9][10] are proposed. In these AFTC approaches, the fault is diagnosed first and then the controller or actuator output based on fault estimation result is increased to compensate the fault.…”

Section: Introductionmentioning

confidence: 99%

A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs

Cen

Noura

2013

2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)

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This paper proposed a novel composite Fault Tolerant Control (FTC) approach based on fault estimation for quadrotor actuator fault. Firstly, an Adaptive Thau Observer is used to estimate the actuator fault magnitudes, and then faults with different time-varying natures are classified into corresponding fault severity levels based on the predefined fault-tolerant bounds. Secondly, a composite FTC strategy including passive and active FTC is designed to compensate fault for different fault severity levels. Unlike former single passive and active FTC, our proposed FTC can compensate fault in a way of Condition-Based Maintenance (CBM) and is more suitable for complex and time-varying fault, which is general in practice. Finally, Different simulations have been carried out to show the performance and effectiveness of the proposed method.

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Fault Tolerant Model Predictive Control of Quad-Rotor Helicopters with Actuator Fault Estimation

Cited by 63 publications

References 17 publications

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

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

A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs

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