Fault tolerant control for multiple successive failures in an octorotor: Architecture and experiments

Saied, Majd; Lussier, Benjamin; Fantoni, Isabelle; Francis, Clovis; Shraim, Hassan

doi:10.1109/iros.2015.7353112

Cited by 21 publications

(24 citation statements)

References 16 publications

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“…Its contribution is twofold. First, it extends our previous works presented in (11) and (12) and validates in real flights three fault tolerant control architectures, two active and one passive, for a multirotor UAV:…”

Section: Introductionsupporting

confidence: 68%

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Active versus passive fault-tolerant control of a redundant multirotor UAV

et al. 2019

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This paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.

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Section: Introductionsupporting

confidence: 68%

“…2 and built at Heudiasyc laboratory, University of Technology of Compiègne in France (13) . Its parameters are given in (11) . In the next sections, passive and active FTCS will be tested on this octorotor.…”

Section: Octorotor Modelmentioning

confidence: 99%

Active versus passive fault-tolerant control of a redundant multirotor UAV

et al. 2019

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“…However, the authors cited that for the frames that have more than six motors (like octorotor), the fault detection and fault-tolerant control schemes are more complex, which is out of scope of their research and will be investigated in further studies. In our opinion, the most important studies related to our work are given in [31] and [15]. In [31], an offline control mixing fault-tolerant control strategy is detailed, which consists in computing a set of explicit laws, where each one is dedicated to a fault situation and obtained by solving an optimization problem considering this particular each fault situation.…”

Section: State Of the Art On Fault-tolerant Control For Uavs Through mentioning

confidence: 99%

“…In our opinion, the most important studies related to our work are given in [31] and [15]. In [31], an offline control mixing fault-tolerant control strategy is detailed, which consists in computing a set of explicit laws, where each one is dedicated to a fault situation and obtained by solving an optimization problem considering this particular each fault situation. Fault detection and isolation must be associated with the FTC scheme to match a corresponding control mixing law.…”

Section: State Of the Art On Fault-tolerant Control For Uavs Through mentioning

confidence: 99%

Comparative study of self tuning, adaptive and multiplexing FTC strategies for successive failures in an Octorotor UAV

Hamadi

Lussier

Fantoni

et al. 2020

Robotics and Autonomous Systems

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This paper presents three fault-tolerant control (FTC) strategies for a coaxial octorotor unmanned aerial vehicle (UAV) regarding motor failures. The first FTC is based on a control mixing strategy which consists of a set of control laws designed offline, each one dedicated to a specific fault situation. The second FTC, a robust adaptive sliding mode control allocation is presented, where the control gains of the controller are adjusted online in order to redistribute the control signals among the healthy motors in order to stabilize the overall system. The third FTC strategy is a new strategy proposed in this article, which is based on a self-tuning sliding mode control (STSMC) where the control gains are readjusted based on the detected error to maintain the stability of the system. Multiple indoor experiments on an octorotor UAV are conducted to show and compare the effectiveness and the behavior of each FTC scheme after successive faults are injected. More specifically, we inject complete actuator's failures into the top four motors of our octorotor. Every strategies show good fault tolerance results, although the control mixing method performs slightly better overall while the adaptive method performs slightly worse. However, the control mixing method requires a huge design effort to take into account as much situations as possible, while the adaptive method and the STSMC only require to determine a few gains. The adaptive method do not need fault detection to operate, but it thus does not provide information on the system's health without an additional fault identification and diagnosis mechanism, while both the control mixing method and the STSMC provide such information.

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“…The security problem of rotor UAV has become a hot issue of people's attention. Many scholars have carried on the modeling and the control algorithm [1,2,3,4], the controllability [5,6] and the fault-tolerant control [7,8,9] research for the rotor unmanned aerial vehicle…”

Section: Introductionmentioning

confidence: 99%

Research on Fault Detection and Isolation Algorithm for Hexacopters Based on Detection Filter

Zhang¹,

Deng²

2016

Proceedings of the 2016 4th International Conference on Machinery, Materials and Information Technology Applications

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Rotor UAV is a small, lightweight and low-cost unmanned vehicles. In recent years ,it has been widely used in production and daily life. With the rotor unmanned aerial vehicles more and more appear in people's work and life, UAV flight safety issues have become a concern. Many researches on controllability and fault-tolerant control strategy of rotor UAV are being carried out. This paper mainly designs a fault detection strategy based on the detection filter of the hexacopter. Firstly, establishing a mathematical model based on the kinematics and dynamics principles of hexacopter. Secondly, making an introduction for the basic principles of the detection filter. On the basis of the principles, a detection filter is designed to detect the faults which may occur on the actuators of the hexacopter. Finally, the performance of the fault detection method based on the detection filter is tested by simulation experiments

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Fault tolerant control for multiple successive failures in an octorotor: Architecture and experiments

Cited by 21 publications

References 16 publications

Active versus passive fault-tolerant control of a redundant multirotor UAV

Active versus passive fault-tolerant control of a redundant multirotor UAV

Comparative study of self tuning, adaptive and multiplexing FTC strategies for successive failures in an Octorotor UAV

Research on Fault Detection and Isolation Algorithm for Hexacopters Based on Detection Filter

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