Active fault tolerant control of quadrotor UAV using Sliding Mode Control

Merheb, Abdel-Razzak; Noura, Hassan; Bateman, François

doi:10.1109/icuas.2014.6842251

Cited by 50 publications

(32 citation statements)

References 9 publications

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“…By comparing results found here with those of active fault tolerant sliding mode controllers of Merheb et al (2014), one can recognize easily that passive FTC schemes still hold an important place in fault tolerant control. Active FTC of Merheb et al (2014) outperforms the passive FTC regular SMC of Merheb et al (2013) when one motor fault is considered.…”

Section: Resultsmentioning

confidence: 83%

“…Active FTC of Merheb et al (2014) outperforms the passive FTC regular SMC of Merheb et al (2013) when one motor fault is considered. The maximum tolerated amount of the loss of effectiveness is 35% for passive and 55% for Active FTC.…”

Section: Resultsmentioning

confidence: 99%

“…Comparison between the passive and active FTC SMCs of Merheb et al (2014) emphasizes the importance of passive fault tolerant controllers that compete with active schemes when unconventional techniques are used.…”

Section: Resultsmentioning

confidence: 99%

“…The controllers are then tuned using the faulty quadrotor system to extend their fault tolerant capabilities. Finally, a comparison is made between the passive FTC SMCs developed here and the active FTC SMC of Merheb et al (2014). The comparison shows that despite passive fault tolerant schemes are static and the correction is not made according to the fault magnitude, they can be matched (under specific conditions) to active fault tolerant schemes if the design is unconventional (cascaded SMC) or the tuning is unconventional (tuning under a fault).…”

mentioning

confidence: 99%

“…Merheb et al (2014) propose an active fault tolerant sliding mode control for the AscTec Pelican quadrotor. A sliding mode observer is used as a fault detection and identification unit that estimates online fault magnitudes.…”

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confidence: 99%

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Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Merheb

Noura

Bateman

2015

International Journal of Applied Mathematics and Computer Science

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In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA), a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques.

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Section: Resultsmentioning

confidence: 83%

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Merheb

Noura

Bateman

2015

International Journal of Applied Mathematics and Computer Science

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A nonlinear optimal control approach for the autonomous octorotor

et al. 2020

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The article proposes a nonlinear optimal control approach for the model of the autonomous octorotor. This aerial drone has improved load transport capability due to being actuated by eight rotors. The dynamic model of the octorotor undergoes approximate linearization with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearized model an H‐infinity feedback controller is designed. The linearization procedure relies on the computation of the Jacobian matrices of the state‐space model of the octorotor. The proposed control method stands for the solution of the optimal control problem for the nonlinear and multivariable dynamics of this aerial drone, under model uncertainties, and external perturbations. For the computation of the controller's feedback gains an algebraic Riccati equation is solved at each time‐step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the octorotor, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis. It can be noted that: (1) the novelty/innovation of this research work is in presenting a novel and genuine nonlinear optimal control method for the octocopter's model, (2) the significance of the presented method is in achieving fast and accurate tracking of reference setpoints for the octocopter under moderate variations of the control inputs. By minimizing energy consumption by the actuators of the UAV its autonomy and operational capacity is improved, (3) the intellectual contribution of the article is in solving the nonlinear optimal control problem for the octocopter in an effective, yet computationally efficient manner.

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Fuzzy adaptive nonlinear sensor‐fault tolerant control for a quadrotor unmanned aerial vehicle

Cao

Zhou

et al. 2018

Asian Journal of Control

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In this paper, a novel fuzzy adaptive nonlinear fault tolerant control design scheme is proposed for attitude dynamics of quadrotor UAV subjected to four sensor faults (bias, drift, loss of accuracy, loss of effectiveness). The sensor faults in Euler angle loop are transformed equivalently into a mismatched uncertainty vector, and other unknown items involving faults, uncertain parameters and external disturbances in angular velocity loop are lumped into an unknown nonlinear function vector.Fuzzy logic systems with adaptive parameters are used to approximate the mismatched uncertainty and lumped nonlinear function vectors. Dynamic surface control is applied to design the fault tolerant controller, and sliding mode control is introduced to improve the control accuracy. All signals of the closed-loop control system are proved to be semi-global uniformly ultimately bounded. Simulations demonstrate the effectiveness of the proposed approach for sensor faults. KEYWORDS dynamic surface control, fault tolerant control, fuzzy logic system, Quadrotor unmanned aerial vehicle, sensor fault, sliding mode control

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Active fault tolerant control of quadrotor UAV using Sliding Mode Control

Cited by 50 publications

References 9 publications

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

A nonlinear optimal control approach for the autonomous octorotor

Fuzzy adaptive nonlinear sensor‐fault tolerant control for a quadrotor unmanned aerial vehicle

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