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

Qi, Xin; Qi, Juntong; Theilliol, Didier; Zhang, Youmin; Han, Jianda; Song, Dalei; Hua, Chunsheng

doi:10.1007/s10846-013-9954-z

Cited by 74 publications

(36 citation statements)

References 86 publications

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“…According to Schur complement, the above inequality can be described by LMI (13). At the same time, the first subject condition of the optimization problem in Eq.…”

Section: Lemma 3 Given the Matrix Of A Safety Regionmentioning

confidence: 99%

“…In order to ensure the reliability and safety of UHs, Fault Detection and Diagnosis (FDD) and fault-tolerant control (FTC) are necessary [10]. A number of related methods have been proposed [13,21] against actuator faults. Drozeski et al [3] and Enns and Si [4] investigated swashplate reconfiguration with rotor-speed control against actuator stuck faults.…”

Section: Introductionmentioning

confidence: 99%

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Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Theilliol

et al. 2016

J Intell Robot Syst

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Actuator faults are inevitable but affect reliability and safety of unmanned helicopters (UHs), especially when there are actuator constraints. In this paper, self-healing control, which is an extended active fault-tolerant control (FTC) method with reference redesign on-line, is proposed to analyze and to guarantee the safety of single-rotor UHs (SUHs) under both actuator faults and constraints. The safety includes body safety and mission safety. More specifically, body safety represents the stability of SUH itself and mission safety represents mission accomplishment with acceptable performance, furthermore, set-point tracking mission is considered. The main contribution of this paper is to analyze and to guarantee the safety of SUHs by solving a set of Linear Matrix Inequalities (LMIs) at one time. The set of LMIs includes saturation compensator design and stability guaranty with a given controller in the absence of actuator constraints, actuator fault compensation analysis, reference reachability analysis and reference redesign. On the other hand, by adding swashplate configuration, SUH model with real actuator outputs as control inputs is constructed which can describe actuator faults more clearly compared to SUH models with nominal control inputs. Finally, the proposed self-healing control method is illustrated by simulation with a nonlinear SUH model.

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“…According to Schur complement, the above inequality can be described by LMI (13). At the same time, the first subject condition of the optimization problem in Eq.…”

Section: Lemma 3 Given the Matrix Of A Safety Regionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Theilliol

et al. 2016

J Intell Robot Syst

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“…Sensor fault is characterized by an obvious deviation between the measured value and the actual value [5]. Fault diagnoses include analytical model-based, signal processing-based techniques, and knowledge-based techniques, mainly [6].…”

Section: Sensors Fault Detection and Diagnosismentioning

confidence: 99%

Research of Fault Detection and Diagnosis for EMB Sensors System Based on Particle Filter

Li¹,

Xu²

2014

IJMO

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Abstract-The electro-mechanical-brake (EMB) system which influences safety and reliability of a pure electric vehicle has received much attention. In EMB system, the feedback sensor signals enhance the accuracy of a pure electric vehicle brake. According to EMB sensor faults, the EMB mathematical model is established based on brushless DC motor (BLDCM). It provides analytical signals for a motor current, a motor speed, and a braking force to an EMB controller. Considering nonlinear characteristics of the EMB system, an observer is designed based on particle filter (PF) algorithm. Then, a sensor state and a fault can be directly estimated by this observer. Also, the residual is used for the sensor faults detection. The simulation result shows that when a sensor has a fault, the designed particle filter not only detects the fault in real-time, but also can locate the fault sensor accurately. The proposed method is proofed feasible and effective.Index Terms-Electro-mechanical brake, fault detection, particle filter, sensor fault.

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“…An overview of the recent development of FTC methods for aerial vehicles are given in [1], [2], [3] and [4]. Specific fault diagnosis approaches are treated in [5], [6], [7] and [8] related to control surfaces, and in [9] to the airspeed sensor system.…”

Section: Introductionmentioning

confidence: 99%

Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs

Sørensen

Hansen

Breivik

et al. 2017

J Intell Robot Syst

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This paper combines fault-dependent control allocation with three different control schemes to obtain fault tolerance in the longitudinal control of unmanned aerial vehicles. The paper shows that faultdependent control allocation is able to accommodate actuator faults that would otherwise be critical and it makes a performance assessment for the different control algorithms: an L 1 adaptive backstepping controller; a robust sliding mode controller; and a standard PID controller. The actuator faults considered are the partial to total loss of the elevator, which is a critical component for the safe operation of unmanned aerial vehicles. During nominal operation, only the main actuator, namely the elevator, is active for pitch control. In the event of a partial or total loss of the elevator, faultdependent control allocation is used to redistribute control to available healthy actuators. Using simulations of a Cessna 182 aircraft model, controller performance and robustness are evaluated by metrics that assess control accuracy and energy use. System uncertainties are investigated over an envelope of pertinent variation, showing that sliding mode and L 1 adaptive backstepping provide robustness, where PID control falls short. Additionally, a key finding is that the fault-dependent

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

Cited by 74 publications

References 86 publications

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Research of Fault Detection and Diagnosis for EMB Sensors System Based on Particle Filter

Performance Comparison of Controllers with Fault-Dependent Control Allocation for UAVs

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