Health-aware and fault-tolerant control of an octorotor UAV system based on actuator reliability

Salazar, Jean C.; Sanjuan, Adrián; Nejjari, Fatiha; Sarrate, Ramon

doi:10.34768/amcs-2020-0004

Cited by 18 publications

(8 citation statements)

References 27 publications

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“…The integration of the techniques of artificial intelligence such as neural networks is investigated using the examples of spacecrafts [13], distributed power generators [14] and transmission lines [15], industrial robots [16] and bearings [17]. Additionally, investigations of fault-tolerant control systems in certain application fields are currently expanded such as in the field of underwater vehicles [18], octorotor UAVs [19], regional aircrafts [20], chemical reactors [21], wind turbines [22], fault-tolerant permanent magnet motors [23] and the power steering of forklifts [24]. Furthermore, reviews in certain fields are published that supplement the reviews mentioned above; these reviews concern the fault diagnosis of machines with small and imbalanced data [25], fault prediction and location methods in electrical energy distribution networks [26], rotating machinery fault detection and diagnosis applying deep domain adaptation [27] as well as intelligent fault-diagnosis for high-speed trains [28].…”

Section: State Of the Art In Fault-tolerant Controlmentioning

confidence: 99%

Algorithms and Methods for the Fault-Tolerant Design of an Automated Guided Vehicle

Stetter

2022

Sensors

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Researchers around the globe have contributed for many years to the research field of fault-tolerant control; the importance of this field is ever increasing as a consequence of the rising complexity of technical systems, the enlarging importance of electronics and software as well as the widening share of interconnected and cloud solutions. This field was supplemented in recent years by fault-tolerant design. Two main goals of fault-tolerant design can be distinguished. The first main goal is the improvement of the controllability and diagnosability of technical systems through intelligent design. The second goal is the enhancement of the fault-tolerance of technical systems by means of inherently fault-tolerant design characteristics. Inherently fault-tolerant design characteristics are, for instance, redundancy or over-actuation. This paper describes algorithms, methods and tools of fault-tolerant design and an application of the concept to an automated guided vehicle (AGV). This application took place on different levels ranging from conscious requirements management to redundant elements, which were consciously chosen, on the most concrete level of a technical system, i.e., the product geometry. The main scientific contribution of the paper is a methodical framework for fault-tolerant design, as well as certain algorithms and methods within this framework. The underlying motivation is to support engineers in design and control trough product development process transparency and appropriate algorithms and methods.

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Section: State Of the Art In Fault-tolerant Controlmentioning

confidence: 99%

Algorithms and Methods for the Fault-Tolerant Design of an Automated Guided Vehicle

Stetter

2022

Sensors

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“…Conversely, FTA is a top-down reliability analysis that analyses the causal relationship between various modes and a final undesirable event, such as UAV system failure [26]. Another study used a reliability block diagram to assess octorotor UAV system reliability, proposing a methodology to maintain flight missions during faulty propulsion units through control allocation [27].…”

Section: Introductionmentioning

confidence: 99%

A Reliability Framework for Safe Octorotor UAV Flight Operations

Thanaraj

Govind

Roy

et al. 2023

2023 International Conference on Unmanned Aircraft Systems (ICUAS)

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Airworthiness of multirotor unmanned aerial vehicles is of utmost importance for ensuring safe flight operations, especially in high-risk airspace. The propulsion system plays a critical role in determining the UAVs' stability and control, and their failures can render UAVs into significant hazards. Assessing the reliability of the propulsion system provides valuable insight into the overall airworthiness of the UAVs, benefitting both regulators and operators. Hence, this paper proposes a framework that integrates controllability analysis with Markov chain modeling to evaluate UAV reliability. The controllability analysis determines combinations of propulsion unit failures in which the UAV remains controllable, which are then modeled as Markov states. This framework is applied to a class of octorotor UAVs, comparing their reliability with other multi-rotor UAVs and examining the influence of different payloads. The results demonstrate the superior reliability of octorotor UAVs, emphasizing their increased suitability for high-risk airspace flight operations compared to other multirotor UAVs.

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“…Thus, the FTC problem has begun to attract increasing attention in a wider range of industrial processes, due to increased safety and reliability demands. Many research papers have dealt with the design of FTC for a variety of complex applications (e.g., Hamayun et al, 2015;Li et al, 2018;Salazar et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

An efficient fault tolerant control scheme for Euler–Lagrange systems

Leal-Leal,

Alcorta-Garcia

2023

International Journal of Applied Mathematics and Computer Scien

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Every closed-loop system holds a level of fault tolerance, which could be increased by using a fault tolerant control (FTC) scheme. In this paper, an efficient FTC scheme for a class of nonlinear systems (Euler-Lagrange ones) is proposed, which guarantees high performance and stability in a faulty system. This scheme was designed on the basis of a cascade control structure in which the inner loop is the closed-loop system and the external loop is the FTC, a generalized proportional integral (GPI) observer-based controller, which manages the fault tolerance level increment. An important issue of the proposed scheme is that the GPI observer-based controller jointly estimates disturbances and faults, providing information about the state of health of the system, and then compensates their effect. The scheme is efficient because only the inertia matrix is required for the controller design, it is able to preserve the nominal control law unchanged and can operate properly without explicit information about system faults (fault diagnostic module). Simulation results, on a pendulum model, show the effectiveness of the proposed scheme for tracking control.

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Health-aware and fault-tolerant control of an octorotor UAV system based on actuator reliability

Cited by 18 publications

References 27 publications

Algorithms and Methods for the Fault-Tolerant Design of an Automated Guided Vehicle

Algorithms and Methods for the Fault-Tolerant Design of an Automated Guided Vehicle

A Reliability Framework for Safe Octorotor UAV Flight Operations

An efficient fault tolerant control scheme for Euler–Lagrange systems

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