Stabilization of a Quadrotor Vehicle Using PD and Recursive Nonlinear Control Techniques

Mlayeh, Hajer; Ghachem, Sahbi; Nasri, Othman; Othman, Kamel Ben

doi:10.15866/irease.v14i4.19739

Cited by 6 publications

(1 citation statement)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To overcome these problems, a few existing works from the specialized literature (Ghachem, Benothman & Benrejeb, 2013;Ghachem, Benotman & Benrejeb, 2017) used the NPA, but the application was limited to firstand second-order equations and never involved a real NL system. Lately, the NPA was used for the stabilization and the recovery process of a drone (Mlayeh et al, 2020;Mlayeh et al, 2021). A comparison between the NPA and the classical accommodation was presented.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Accommodation of a DC-8 Aircraft Affected by a Complete Loss of a Control Surface

Mlayeh¹,

Othman²

2022

STUD INFORM CONTROL

Self Cite

View full text Add to dashboard Cite

The occurrence of failures in the control surfaces of an aircraft may become a serious threat to the safety of both aircraft and passengers. That is, using fault-tolerant control (FTC) is vital for such critical systems. The nonlinear progressive accommodation (NPA) is a FTC strategy that consists in solving the State-dependant Riccati Equation (SDRE) in an iterative way. The aim of this work is to study the efficiency of the NPA, in the case of a non-classical stabilization problem and a different modelling of a nonlinear (NL) system, affected by a total actuator failure. That is, a modified NPA strategy is proposed by combining the SDRE control and a feed-forward compensator, derived from the Forward-Propagation-Riccati-Equation (FPRE). The system considered in this paper is a full NL model of a DC-8 aircraft with coupled dynamics. The modelling of the aircraft as well as the simulation of the healthy, affected and accommodated system are presented. The proposed NPA method allows the aircraft to achieve a trajectory-following mission despite the complete failure of its actuator. Most importantly, by preserving the system's stability, the developed approach can be considered as a good alternative to the use of redundant actuators in aircraft.

show abstract