Sliding Mode Thau Observer for Actuator Fault Diagnosis of Quadcopter UAVs

Nguyen, Ngoc Phi; Hong, Sung Kyung

doi:10.3390/app8101893

Cited by 40 publications

(30 citation statements)

References 21 publications

(30 reference statements)

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“…The proposed method thus comprises the FD and the FTC scheme in a single unit. The suggested FD scheme can estimate the magnitude of actuator faults over time and in the presence of disturbances of which the upper bound is unknown, which is modified from [25,26]. The FTC scheme contains two controllers: (1) an adaptive sliding mode controller is designed from a previous study [27], as long as the fault magnitude remains below a certain threshold, and (2) a fault-tolerant controller based on the reconfiguration technique, which is designed to compensate actuator faults above this threshold.…”

Section: Main Contributionsmentioning

confidence: 99%

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Nguyen

Hong

2019

Energies

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Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.

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Section: Main Contributionsmentioning

confidence: 99%

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Nguyen

Hong

2019

Energies

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“…To calculate the fault estimation algorithm, additional design constraints were faced, which could not be solved with typical methods. However, after the problem was modified into the LMI form, a solution could be found [21]. LMI based particle swarm optimization algorithm was also used to solve the distributional robust chance constrained model in wind power estimation [22].…”

Section: Literature Surveymentioning

confidence: 99%

Stability Driven Optimal Controller Design for High Quality Images

Suh¹

2018

Electronics

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This note presents an optimal design method to enhance image quality in optical image stabilization (OIS) systems. First of all, performance limitations of conventional methods are shown and secondly, a new design framework based on convex optimization is proposed. The resulting controller essentially stabilizes the closed loop systems because the proposed method is derived from Lyapunov stability. From the test results, it is confirmed that this method reduces the effect of hand vibrations and makes images sharp. Additionally, it is shown that the proposed method is also effective in robot vision and recognition rate of deep neural network (DNN) based traffic signs and pedestrians detection in automotive applications. This note has three main contributions. First, performance limitations of the conventional method are shown. Second, from the relation between sensitivity and complementary sensitivity functions, an indirect design method for performance improvement is proposed, and finally, stability guaranteed optimal design is proposed. Unlike conventional methods, the proposed method does not require addition filters to suppress resonances of the plant and this note highlights phases of the closed loop systems on removing external vibrations.

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“…With the development of data, internet as well as computing power of computers, machine learning and deep learning [1,2] have been used in many areas such as construction [3][4][5], cybernetic [6,7], economic [8][9][10][11] and medical [12,13] to help professionals save time and effort. Utilizing machine learning in economic, Hoang et al [14] introduced a full-fledged geo-demographic segmentation model for identifying and gaining insights of the most probable cause of churn for a bank dataset.…”

Section: Introductionmentioning

confidence: 99%

Improving Electric Energy Consumption Prediction Using CNN and Bi-LSTM

et al. 2019

Applied Sciences

172

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The electric energy consumption prediction (EECP) is an essential and complex task in intelligent power management system. EECP plays a significant role in drawing up a national energy development policy. Therefore, this study proposes an Electric Energy Consumption Prediction model utilizing the combination of Convolutional Neural Network (CNN) and Bi-directional Long Short-Term Memory (Bi-LSTM) that is named EECP-CBL model to predict electric energy consumption. In this framework, two CNNs in the first module extract the important information from several variables in the individual household electric power consumption (IHEPC) dataset. Then, Bi-LSTM module with two Bi-LSTM layers uses the above information as well as the trends of time series in two directions including the forward and backward states to make predictions. The obtained values in the Bi-LSTM module will be passed to the last module that consists of two fully connected layers for finally predicting the electric energy consumption in the future. The experiments were conducted to compare the prediction performances of the proposed model and the state-of-the-art models for the IHEPC dataset with several variants. The experimental results indicate that EECP-CBL framework outperforms the state-of-the-art approaches in terms of several performance metrics for electric energy consumption prediction on several variations of IHEPC dataset in real-time, short-term, medium-term and long-term timespans.

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Sliding Mode Thau Observer for Actuator Fault Diagnosis of Quadcopter UAVs

Cited by 40 publications

References 21 publications

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Stability Driven Optimal Controller Design for High Quality Images

Improving Electric Energy Consumption Prediction Using CNN and Bi-LSTM

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