Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

Lien, Yu Hsuan; Peng, Chao; Chen, Yi Hsuan

doi:10.3390/app10103503

Cited by 18 publications

(5 citation statements)

References 38 publications

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“…At the same time, a novel ADRC that requires only an output state information-based controller is designed for the quadrotor UAVs [27] and based on an anti-wind modeling strategy for a quadrotor, made up of a cascade controller with IESO (Improved Extended State Observer) [28]. A two-stage control method for fault recognition and fault-tolerant control (FTC) with two observers was proposed by Lien et al [29] for the quadrotor UAV suffering from single rotor failure, while Lyu et al [30] developed a DO-based H ∞ synthesis technique to enhance the hovering accuracy of tail-sitter UAVs under crosswind. Liu et al [31] developed a robust nonlinear control method to achieve the desired trajectory without switching the coordinate.…”

Section: Introductionmentioning

confidence: 99%

Dual Observer Based Adaptive Controller for Hybrid Drones

Dalwadi

Deb

Ožana

2023

Drones

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A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the biplane quadrotor. Extended state observer (ESO) is designed for the state estimation, and based on this estimation, a Backstepping controller (BSC), Integral Terminal Sliding Mode Controller (ITSMC), and Hybrid Controller (HC) that is a combination of ITSMC + BSC are designed for the trajectory tracking. Further, a Nonlinear disturbance observer (DO) is designed and combined with ESO based controller to estimate external disturbances. In this simulation study, These ESO-based controllers with and without DO are applied for trajectory tracking, and results are evaluated. An ESO-based Adaptive Backstepping Controller (ABSC) and Adaptive Hybrid controller (AHC) with DO are designed, and performance is evaluated to handle the mass change during the flight despite wind gusts. Simulation results reveal the effectiveness of ESO-based HC with DO compared to ESO-based BSC and ITSMC with DO. Furthermore, an ESO-based AHC with DO is more efficient than an ESO-based ABSC with DO.

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Section: Introductionmentioning

confidence: 99%

Dual Observer Based Adaptive Controller for Hybrid Drones

Dalwadi

Deb

Ožana

2023

Drones

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“…In recent years, flight control and the application of UAVs, especially quadrotor helicopters, have become popular research topics. Related studies include tutorial papers [1]- [3], robust backstepping sliding mode control [4]- [6], linear quadratic regulator control [7], fault-tolerance control [8], [9], pathfollowing control [10], and model predictive control [11], [12]. Compared to traditional quadcopters, tilt-rotor UAVs [13]- [15] feature a structure with variable thrust directions, offering increased control versatility.…”

Section: Introductionmentioning

confidence: 99%

Development of a Full Orientation Flight Robotics: Dynamics Modeling, Analysis, and Control Design

Li,

Peng

2023

IEEE Access

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In this paper, a novel multi-rotor flight configuration, namely Full Orientation Flight RObotics (FOFRO), is developed. Different from the well-known quadrotor, the proposed multi-rotor-driven FOFRO is able to achieve arbitrary flight pose in a six-degree-of-freedom (6-DoF) space. Therefore, the demands of flight flexibility and maneuverability can be greatly improved. On the basis of the designed prototype, the 6-DoF governing equations based on quaternion attitude kinematics are derived. Owing to the existence of the multi-rotor-driving redundancy, the optimal control allocation algorithm is further proposed to address the inverse mapping problem between the control signal channels and the actuator driving force channels.The algorithm provides a minimum-energy-consumption solution for a rotor speed to compose the designed control force under the satisfaction of practical physical constraints. To ensure the flight robustness in the realistic scenarios, a robust super-twisting sliding model controller is adopted to against unknown external disturbances. A numerical simulation is performed to illustrate the flight properties of the proposed FOFRO and to validate the feasibility of the proposed optimal control allocation algorithm. Simulation results also reveal that the proposed FOFRO can achieve arbitrary flight pose demands in the 6-DoF space, which demonstrate the high mobility of the proposed FOFRO.INDEX TERMS Full orientation flight robotics (FOFRO), arbitrary flight pose tracking, optimal control allocation algorithm, robust super-twisting sliding mode controller.

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“…Lien et al proposed a strategy for the flight control of a quadrotor under single different rotor failure conditions. They developed a dual observer-based strategy for fault detection (Lien et al , 2020).…”

Section: Introductionmentioning

confidence: 99%

Integrated design of fault-tolerant control for flight control systems using observer and fuzzy logic

Unal

2021

AEAT

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Purpose Fault detection, isolation and reconfiguration of the flight control system is an important problem to obtain healthy flight. This paper aims to propose an integrated approach for aircraft fault-tolerant control. Design/methodology/approach The integrated structure includes a Kalman filter to obtain without noise, a full order observer for sensor fault detection, a GOS (generalized observer scheme) for sensor fault isolation and a fuzzy controller to reconfigure of the healthy sensor. This combination is simulated using the state space model of a lateral flight control system in case of disturbance and under sensor fault scenario. Findings Using a dedicated observer scheme, the detection and time of sensor fault are correct, but the sensor fault isolation is evaluated incorrectly while the faulty sensor is isolated correctly using GOS. The simulation results show that the suggested approach works affectively for sensor faults with disturbance. Originality/value This paper proposes an integrated approach for aircraft fault-tolerant control. Under this framework, three units are designed, one is Kalman filter for filtering and the other is GOS for sensor fault isolation and another is fuzzy logic for reconfiguration. An integrated approach is sensitive to faults that have disturbances. The simulation results show the proposed integrated approach can be used for any linear system.

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Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

Cited by 18 publications

References 38 publications

Dual Observer Based Adaptive Controller for Hybrid Drones

Dual Observer Based Adaptive Controller for Hybrid Drones

Development of a Full Orientation Flight Robotics: Dynamics Modeling, Analysis, and Control Design

Integrated design of fault-tolerant control for flight control systems using observer and fuzzy logic

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