Mixing Adaptive Fault Tolerant Control of Quadrotor UAV

Büyükkabasakal, Kemal; Fi̇dan, Barış; Savran, Aydoğan

doi:10.1002/asjc.1479

Cited by 24 publications

(22 citation statements)

References 24 publications

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“…In [20], robust control scheme is proposed to cope with the trajectory tracking problem for UAV. There are some other control methods for quadrotor UAV such as adaptive control [3,6], predictive control [1], neural network control [8], fault tolerance control [4], etc. But these methods either rely on precise mathematical models or require knowledge of the upper bounds of uncertainties, which are easily influenced by internal uncertainties and unknown disturbances.…”

Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

Zhang

Chen

Sun

et al. 2019

NAMC

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This paper proposes a sliding mode active disturbance rejection control scheme to deal with trajectory tracking control problems for the quadrotor unmanned aerial vehicle (UAV). Firstly, the differential signal of the reference trajectory can be obtained directly by using the tracking differentiator (TD), then the design processes of the controller can be simplified. Secondly, the estimated values of the UAV's velocities, angular velocities, total disturbance can be acquired by using extended state observer (ESO), and the total disturbance of the system can be compensated in the controller in real time, then the robustness and anti-interference capability of the system can be improved. Finally, the sliding mode controller based on TD and ESO is designed, the stability of the closed-loop system is proved by Lyapunov method. Simulation results show that the control scheme proposed in this paper can make the quadrotor track the desired trajectory quickly and accurately.

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Section: Introductionmentioning

confidence: 99%

Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

Zhang

Chen

Sun

et al. 2019

NAMC

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“…Then, an online switching action among different PID gains is conducted based on the results of FDD, but no FDD mechanism design is addressed in this paper. Büyükkabasakal et al address a multimodel‐based adaptive FTC approach for tolerating a specific range of fault; the ultimate control input is the mix of multiple control inputs produced by a set of linear quadratic state feedback controllers. In Freddi et al, feedback linearization techniques are adopted in a double‐layer FTC architecture with inner and outer loops, while the fault information is supposed to be available from a FDD module.…”

Section: Introductionmentioning

confidence: 99%

Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics

Liu

Chen

2017

Intl J Robust & Nonlinear

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Summary This paper presents a retrofit fault‐tolerant tracking control (FTTC) design method with application to an unmanned quadrotor helicopter (UQH). The proposed retrofit fault‐tolerant tracking controller is developed to accommodate loss‐of‐effectiveness faults in the actuators of UQH. First, a state feedback tracking controller acting as the normal controller is designed to guarantee the stability and satisfactory performance of UQH in the absence of actuator faults, while actuator dynamics of UQH are also considered in the controller design. Then, a retrofit control mechanism with integration of an adaptive fault estimator and an adaptive fault compensator is devised against the adverse effects of actuator faults. Next, the proposed retrofit FTTC strategy, which is synthesized by the normal controller and an additional reconfigurable fault compensating mechanism, takes over the control of the faulty UQH to asymptotically stabilize the closed‐loop system with an acceptable performance degradation in the presence of actuator faults. Finally, both numerical simulations and practical experiments are conducted in order to demonstrate the effectiveness of the proposed FTTC methodology on the asymptotic convergence of tracking error for several combinations of loss‐of‐effectiveness faults in actuators.

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“…The use of multiple models within the context of MPC, denoted Multiple Models Predictive Control (MMPC), has been addressed by [18]. Beyond this focus on robustness, there have been few applications of multiple blended models to FTC outside of [3]. Our work is novel in its investigation of WMMAC for FTC.…”

Section: Related Workmentioning

confidence: 99%

“…The need for such systems in areas such as aerospace and industrial processes, where safety and reliability is paramount, has motivated significant research into the design and optimisation of these systems. Examples of such systems can be seen in aircraft [1], spacecraft [2], autonomous quad-copter systems [3], power plants, chemical reactors and ground vehicles, among many more.…”

Section: Introductionmentioning

confidence: 99%

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Comparing Switching vs. Mixing MPC for Robust Fault-Tolerant Control

Sohège¹,

Provan²

Kalpa Publications in Computing

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We conduct a comparative study between two approaches for combining signals from several Model-Predictive Controllers (MPCs) designed for different fault scenarios. The first is MPC switching where a switch dictates which of the MPC controllers is currently active. The second is MPC mixing where all MPCs are running concurrently and their outputs are blended in proportion to the current estimate of fault state. We demonstrate results using a gravity drained multi-tank system. Our empirical results show that the mixing approach responds more quickly to faults than the switching approach. Further, we show that the speed and accuracy of fault isolation has a critical impact on fault tolerance.

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Mixing Adaptive Fault Tolerant Control of Quadrotor UAV

Cited by 24 publications

References 24 publications

Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

Trajectory tracking control of a quadrotor UAV based on sliding mode active disturbance rejection control

Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics

Comparing Switching vs. Mixing MPC for Robust Fault-Tolerant Control

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