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

Yu, Yushu; Dong, Yiqun

doi:10.1155/2019/9754981

Cited by 11 publications

(6 citation statements)

References 35 publications

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“…A global active FTC of underactuated UAV with redundant actuators (hexarotors and octorotors) is proposed in [25] where the entire architecture contains a baseline controller (adopted from [26]), and a fault detection and isolation scheme based on a robust parameter identification approach. The FDI identifies the generated thrust and torques by the actuators in normal and faulty situations and a controller reconstruction module then calculates a feasible solution to the control allocation problem in faulty cases.…”

Section: State Of the Art On Fault-tolerant Control For Uavs Through mentioning

confidence: 99%

“…where λ i and k i are the gains for the sliding variables which must be selected as positive values but not too high to provide a smooth response of the system, and (25) gives e i for (17), (18), (19) and (20) with i = 1, .., 4, such that e i andė i represent the position and velocity errors between the real states x i measured by the vehicle sensors, and the desired values x d i calculated by the trajectory generator. e i0 andė i0 are the initial errors.…”

Section: Shared Sliding Manifold Function For All Ftc Schemesmentioning

confidence: 99%

“…Let us recall the subsystems formulation presented in (17) to (20), the definition of the integral sliding variable in (24) and the definition of the system errors given in (25). The goal of the controller is to drive the sliding variable s i and its first derivative to zero, which implies that the difference between the system's position and the desired one will also be driven to zero and the system will follow the desired trajectory.…”

Section: Self-tuning Sliding Mode Control (Stsmc)mentioning

confidence: 99%

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Comparative study of self tuning, adaptive and multiplexing FTC strategies for successive failures in an Octorotor UAV

Hamadi

Lussier

Fantoni

et al. 2020

Robotics and Autonomous Systems

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This paper presents three fault-tolerant control (FTC) strategies for a coaxial octorotor unmanned aerial vehicle (UAV) regarding motor failures. The first FTC is based on a control mixing strategy which consists of a set of control laws designed offline, each one dedicated to a specific fault situation. The second FTC, a robust adaptive sliding mode control allocation is presented, where the control gains of the controller are adjusted online in order to redistribute the control signals among the healthy motors in order to stabilize the overall system. The third FTC strategy is a new strategy proposed in this article, which is based on a self-tuning sliding mode control (STSMC) where the control gains are readjusted based on the detected error to maintain the stability of the system. Multiple indoor experiments on an octorotor UAV are conducted to show and compare the effectiveness and the behavior of each FTC scheme after successive faults are injected. More specifically, we inject complete actuator's failures into the top four motors of our octorotor. Every strategies show good fault tolerance results, although the control mixing method performs slightly better overall while the adaptive method performs slightly worse. However, the control mixing method requires a huge design effort to take into account as much situations as possible, while the adaptive method and the STSMC only require to determine a few gains. The adaptive method do not need fault detection to operate, but it thus does not provide information on the system's health without an additional fault identification and diagnosis mechanism, while both the control mixing method and the STSMC provide such information.

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Section: State Of the Art On Fault-tolerant Control For Uavs Through mentioning

confidence: 99%

Section: Shared Sliding Manifold Function For All Ftc Schemesmentioning

confidence: 99%

Section: Self-tuning Sliding Mode Control (Stsmc)mentioning

confidence: 99%

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Comparative study of self tuning, adaptive and multiplexing FTC strategies for successive failures in an Octorotor UAV

Hamadi

Lussier

Fantoni

et al. 2020

Robotics and Autonomous Systems

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“…Partial loss of control effectiveness of an actuator is a common fault that occurs in UAV systems [17], that is therefore considered in this paper. The concept of FTC has been widely employed in safety-critical systems, such as spacecraft [18,19] and aircraft [20,21]. In [22], an adaptive faulttolerant flight controller is presented for a VTOL tail-sitter UAV and validated through experiment tests.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fault-Tolerant Control of a Hybrid VTOL UAV against Actuator Faults and Model Uncertainties under Fixed-Wing Mode

Zhang

Hong-xia

et al. 2022

International Journal of Aerospace Engineering

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This paper proposes an adaptive fault-tolerant control strategy for a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults and model uncertainties. With the proposed adaptive control schemes, both actuator faults and model uncertainties can be accommodated without the knowledge of fault information and uncertainty bounds. The proposed control scheme is constructed with two separate control modules. The low-level control allocation module is used to distribute the virtual control signals among the available redundant actuators. The high-level control module is constructed with an adaptive sliding mode controller, which is employed to maintain the overall system tracking performance in both faulty and uncertain conditions. In the case of actuator faults and model uncertainties, the adaptive scheme will be triggered to generate more virtual control signals to compensate the virtual control error and maintain the desired system tracking performance. The effectiveness of the proposed control strategy is validated through comparative simulation tests under different faulty and uncertain scenarios.

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“…A good management strategy is important to guarantee realization of the functionality of a redundant actuator. 9–12 Gohil et al studied redundancy management methods in avionics communication devices. 13 Ramos et al applied a fuzzy logic method based on optimization to a redundant manipulator system and reported good results.…”

Section: Introductionmentioning

confidence: 99%

Redundancy management strategy for electro-hydraulic actuators based on intelligent algorithms

Shi

2020

Advances in Mechanical Engineering

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This paper explores three methods for electro-hydraulic actuator redundancy management strategies based on fuzzy aggregation, Mamdani’s fuzzy logic rules, and fuzzy neural network theory. These intelligent management schemes and implementation strategies are studied for a designed hardware-independent redundancy loop. Fault identification and isolation and system reconstruction are performed by combining fuzzy clustering with Mamdani’s fuzzy control, a fuzzy neural network, and redundancy management. Simulation analyses of the three algorithms are performed and loop simulation models are established based on the analysis algorithm. The methods proposed in this paper can solve the problem of misjudgment encountered in traditional methods and can also avoid uncertain states in the system.

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

Cited by 11 publications

References 35 publications

Comparative study of self tuning, adaptive and multiplexing FTC strategies for successive failures in an Octorotor UAV

Comparative study of self tuning, adaptive and multiplexing FTC strategies for successive failures in an Octorotor UAV

Adaptive Fault-Tolerant Control of a Hybrid VTOL UAV against Actuator Faults and Model Uncertainties under Fixed-Wing Mode

Redundancy management strategy for electro-hydraulic actuators based on intelligent algorithms

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