UKF-based rotorcraft UAV Fault adaptive control for actuator failure

Abstract

Abstract-

Fault diagnosis and fault tolerant control methods for manned and unmanned helicopters: A literature review

“…With the development of science and technology, researches on FD and FTC methods for helicopters have made a number of encouraging progresses. However there are still many problems, like different faults decoupling, simultaneous diagnosis Helicopter [76], [77] Adaptive Control UH [43], [84], [41] Adaptive H∞ Control Helicopter [39] Virtual Actuator 2DOF UH [82], [83], [27] Actuators Sensors KF UH [48] , [49] Components Adaptive Sliding Mode Backstepping Control Helicopter [89] Passive Actuators Adaptive Control Helicopter [86], [87] Predictive Control 3DOF UH [88] Fuzzy Logic Control UH [32] Quantum [80], [81] Components AMM 2DOF UH [79] of multiple faults and comprehensive diagnosis. With the development of unmanned systems, including Unmanned Helicopters (UHs), their functions and performance are becoming more and more powerful, but their reliability has not achieved the same development.…”

“…In this way, the faulty plant associated with the virtual actuator block allows the controller to tackle the plant as in a fault-free case. Qi et al [84], [43] proposed adaptive control and feedback linearization [41] for UH actuators FTC with Actuator Healthy Coefficients (AHCs) and UKF or adaptive UKF-based FD approaches. Liu [39] proposed an adaptive fault tolerant H ∞ output feedback controller with an observer for actuator faults.…”

A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

“…Qi et al proposed adaptive control methods [69,71,72] for UH actuators FTC with AHCs and state estimation-based feedback linearization. The authors proposed that if all the states are measured accurately, the UH model can be described as:…”

A Diagnostic Thau Observer for a Class of Unmanned Vehicles

“…In all the other cases there are two possible solutions: linearizing the system around different operating conditions or using a nonlinear model-based approach. Among the nonlinear approaches known in literature, one can find the extended and unscented Kalman filters (see, e.g., [18] and [20]), the structural analysis [14] and several non-linear observers for Lipschitz systems [26].…”