Quadrotor Actuator Fault Diagnosis and Accommodation Using Nonlinear Adaptive Estimators

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

doi:10.1109/tcst.2016.2640941

Cited by 120 publications

(50 citation statements)

References 7 publications

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“…Remark Plenty of works on FDI scheme have been conducted . All these results provide good references on how to get the suitable approximation for the actuator effectiveness gain Λ i l .…”

Section: Finite‐time Fault‐tolerant Formation Controller Designmentioning

confidence: 97%

“…Plenty of works on FDI scheme have been conducted. [53][54][55][56][57] All these results provide good references on how to get the suitable approximation for the actuator effectiveness gain Λ il . However, how to compute the estimatesΛ il in the presence of model uncertainties and/or external disturbances in finite time is still an open research area, which is also a part of our recent work.…”

Section: Propeller Speed Fault-tolerant Controller Designmentioning

confidence: 99%

See 1 more Smart Citation

Finite‐time fault‐tolerant formation control for multiquadrotor systems with actuator fault

Zhao

Zong

Tian

et al. 2018

Intl J Robust & Nonlinear

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Summary This paper investigates the distributed tracking control of a group of underactuated quadrotors in the presence of actuator faults in three‐dimensional space. Using consensus protocol and sliding mode algorithm, a distributed finite‐time fault‐tolerant formation control scheme is developed. The whole closed‐loop system is composed by position loop, attitude loop, and propeller speed loop. A propeller speed fault‐tolerant controller is developed to deal with the unexpected faults of quadrotors. The finite‐time stability of the closed‐loop system is guaranteed through Lyapunov analysis. Finally, the efficiency of the proposed algorithm is illustrated by some numerical simulations.

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“…Remark Plenty of works on FDI scheme have been conducted . All these results provide good references on how to get the suitable approximation for the actuator effectiveness gain Λ i l .…”

Section: Finite‐time Fault‐tolerant Formation Controller Designmentioning

confidence: 97%

Section: Propeller Speed Fault-tolerant Controller Designmentioning

confidence: 99%

Finite‐time fault‐tolerant formation control for multiquadrotor systems with actuator fault

Zhao

Zong

Tian

et al. 2018

Intl J Robust & Nonlinear

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“…Most previous results focus on the detection and isolation of actuator faults . However, sensors are prone to break down more frequently than actuators and other components, and sensors as parts of feedback considerably affect the system performance.…”

Section: Introductionmentioning

confidence: 99%

“…[9][10][11][12] Most previous results focus on the detection and isolation of actuator faults. 13,14 However, sensors are prone to break down more frequently than actuators and other components, and sensors as parts of feedback considerably affect the system performance. Multisensor faults may occur when the HFV faces a harsh environment or drastic changes in parameters.…”

mentioning

confidence: 99%

Adaptive diagnosis and compensation for hypersonic flight vehicle with multisensor faults

Chen

Gong

2019

Intl J Robust & Nonlinear

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Summary This study proposes an improved adaptive fault diagnosis and compensation scheme for multisensor faults of hypersonic flight vehicles (HFVs). The faults are detected and isolated through a series of sensor output residuals and thresholds that consider observation error and disturbances. Via an adaptive augmented observer, the faults are estimated accurately and a time‐varying disturbance is handled by an additional differential part. Sensor faults are compensated on the basis of estimation results, and disturbances are considered in the fault‐tolerant control (FTC) design, thereby improving the tracking accuracy of the altitude and velocity and robustness with respect to external disturbances for HFVs. The stability of diagnosis and FTC is analyzed by Lyapunov theory. Numerical simulation results explain the validity of the proposed diagnosis and compensation methods.

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“…As a typical unmanned aerial vehicle (UAV), a quadrotor has simple mechanical and flexible maneuverability. Therefore, quadrotor is usually used as the platform for formation control [4], and various types of implementation and applications such as surveillance [5], fault diagnosis [6], and fault-tolerant control [7] have also been investigated.…”

Section: Introductionmentioning

confidence: 99%

Event-Based Formation Control of Multiple Quadrotors on SO(3)

Dong

Mingyu

Wang

et al. 2018

Mathematical Problems in Engineering

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This paper is concerned with the formation problem of multiple quadrotors, and an event-based control strategy is proposed. The communication topology and relative positions of formation are first considered, and then the model of multiple quadrotors system is developed on the special orthogonal group SO(3). By designing the trigger function, certain events are generated for each quadrotor. Then, the formation controller is driven to update its parameters according to the events. The attitude controller on SO(3) is designed for tracking of the command and stabilization. By the proposed method continuous communication is not required between quadrotors, and it is proved that the quadrotors could achieve the desired formation. Simulation illustrates that the proposed event-based formation control method is effective.

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Quadrotor Actuator Fault Diagnosis and Accommodation Using Nonlinear Adaptive Estimators

Cited by 120 publications

References 7 publications

Finite‐time fault‐tolerant formation control for multiquadrotor systems with actuator fault

Finite‐time fault‐tolerant formation control for multiquadrotor systems with actuator fault

Adaptive diagnosis and compensation for hypersonic flight vehicle with multisensor faults

Event-Based Formation Control of Multiple Quadrotors on SO(3)

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