Nonlinear Adaptive Fault-Tolerant Quadrotor Altitude and Attitude Tracking With Multiple Actuator Faults

Avram, Remus C.; Zhang, Xiaodong; Muse, Jonathan A.

doi:10.1109/tcst.2017.2670522

Cited by 116 publications

(49 citation statements)

References 11 publications

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“…The condition on d above (20) means that the vehicle cannot engage in a vertical decent with an acceleration larger than or equal to the gravitational acceleration. Furthermore, the a priori boundedness of d allows avoiding the singularities that may occur in (18) and (19). Sincēd 3 , the upper bound of d3 , satisfies̄d 3 < g, the extraction algorithm is singularity free, and 0 < g −̄d 3 < u t < g +̄d 3 .…”

Section: Desired Attitude and Thrust Extractionmentioning

confidence: 99%

“…In the work of Shen et al, a fault‐tolerant control law using online control allocation has been proposed to handle, simultaneously, external disturbances, unknown inertia, and actuator LOE, for the attitude control problem. A nonlinear adaptive fault‐tolerant control scheme has been proposed in the work of Avram et al for the attitude and altitude control of a quadrotor aircraft to accommodate the actuator LOE. In the work of Tang et al, an adaptive controller was developed for a class of nonlinear systems with actuator failures and applied to an aircraft longitudinal model.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive trajectory tracking control for VTOL‐UAVs with unknown inertia, gyro‐bias, and actuator LOE

Benrezki

Tayebi

Tadjine

2018

Intl J Robust & Nonlinear

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Summary This paper proposes an adaptive controller for the trajectory tracking problem of vertical take‐off and landing unmanned aerial vehicles with unknown inertia and gyro‐bias, in the presence of external disturbances and actuator loss of effectiveness. To achieve our control objective, first, an a priori bounded virtual control law, providing an a priori bounded thrust and desired attitude, is designed for the translational dynamics. Thereafter, the torque input is designed for the rotational dynamics to track the desired orientation derived in the first stage. The stability of the overall hierarchical closed‐loop system and the global convergence of the tracking errors to zero are rigorously established. Finally, numerical simulations are performed to validate the effectiveness of the proposed control scheme.

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Section: Desired Attitude and Thrust Extractionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive trajectory tracking control for VTOL‐UAVs with unknown inertia, gyro‐bias, and actuator LOE

Benrezki

Tayebi

Tadjine

2018

Intl J Robust & Nonlinear

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“…While in some practical applications, the estimator may not always access the true sensor measurement [1]- [9]. For example, a sensor fault results in that the estimator only receives a pure noise [4]- [6], which does not contain any information of the estimated system. In networked systems, the channel traffic congestion will also lead to sensor measurement losses [7].…”

Section: Introductionmentioning

confidence: 99%

Bayesian Filtering With Unknown Sensor Measurement Losses

Zhang

You

Xie

2019

IEEE Trans. Control Netw. Syst.

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This work studies the state estimation problem of a stochastic nonlinear system with unknown sensor measurement losses. If the estimator knows the sensor measurement losses of a linear Gaussian system, the minimum variance estimate is easily computed by the celebrated intermittent Kalman filter (IKF). However, this will no longer be the case when the measurement losses are unknown and/or the system is nonlinear or non-Gaussian. By exploiting the binary property of the measurement loss process and the IKF, we design three suboptimal filters for the state estimation, i.e., BKF-I, BKF-II and RBPF. The BKF-I is based on the MAP estimator of the measurement loss process and the BKF-II is derived by estimating the conditional loss probability. The RBPF is a particle filter based algorithm which marginalizes out the loss process to increase the efficiency of particles. All the proposed filters can be easily implemented in recursive forms. Finally, a linear system, a target tracking system and a quadrotor's path control problem are included to illustrate their effectiveness, and show the tradeoff between computational complexity and estimation accuracy of the proposed filters.Index Terms-Stochastic systems, networked estimation, intermittent Kalman filter, sensor measurement losses, particle filter. PLACE PHOTO HEREJiaqi Zhang received the B.S. degree from the

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“…However, when operating in outdoor environments, quadrotors would be easily affected by wind gust during the course of flight [13]. In addition to wind gust, the actuating motor-propeller system is prone to faults due to component degradation or damage to the motors or propellers, which may lead to significant performance degradation or even instability of the close-loop system [14]. Therefore, it is difficult for the traditional linear controllers to achieve the high precision control requirement under the influence of these factors.…”

Section: Introductionmentioning

confidence: 99%

“…In [16], robust optimal backstepping control (ROBC) is designed to address the stabilization and trajectory tracking problem of quadrotor in the existence of wind gust. And in [14], a nonlinear robust adaptive fault-tolerant altitude and attitude tracking method was implemented to accommodating actuator faults in quadrotor without the need of a faults diagnosis mechanism. In summery, these methods were designed to improve the robustness of the system.…”

Section: Introductionmentioning

confidence: 99%

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Shi

Chou

2018

Electronics

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This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.

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Nonlinear Adaptive Fault-Tolerant Quadrotor Altitude and Attitude Tracking With Multiple Actuator Faults

Cited by 116 publications

References 11 publications

Adaptive trajectory tracking control for VTOL‐UAVs with unknown inertia, gyro‐bias, and actuator LOE

Adaptive trajectory tracking control for VTOL‐UAVs with unknown inertia, gyro‐bias, and actuator LOE

Bayesian Filtering With Unknown Sensor Measurement Losses

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

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