Reconfiguration control method for multiple actuator faults on UAV

Boche, Adèle; Farges, J-L; Plinval, Henry de

doi:10.1016/j.ifacol.2017.08.2257

Cited by 6 publications

(5 citation statements)

References 9 publications

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“…The work in [126] presents an FTC design to deal with actuators faults on a fixed-wing vehicle. The suggested approach incorporates a discrete structure for the reconfiguration and a continuous one during control and estimation levels.…”

Section: Fault Tolerant Control Methods In Uavsmentioning

confidence: 99%

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Fourlas

Karras

2021

Machines

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The continuous evolution of modern technology has led to the creation of increasingly complex and advanced systems. This has been also reflected in the technology of Unmanned Aerial Vehicles (UAVs), where the growing demand for more reliable performance necessitates the development of sophisticated techniques that provide fault diagnosis and fault tolerance in a timely and accurate manner. Typically, a UAV consists of three types of subsystems: actuators, main structure and sensors. Therefore, a fault-monitoring system must be specifically designed to supervise and debug each of these subsystems, so that any faults can be addressed before they lead to disastrous consequences. In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs. Concerning fault diagnosis, our interest is mainly focused on sensors and actuators, as these subsystems are mostly prone to faults, while their healthy operation usually ensures the smooth and reliable performance of the aerial vehicle.

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Section: Fault Tolerant Control Methods In Uavsmentioning

confidence: 99%

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Fourlas

Karras

2021

Machines

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“…Their work, however, does not mention any other cyber-attacks, or classify the presented ones. Authors in [60] and [47] solely focused on the detection and isolation of the UAV's sensor and actuator faults. In [60], they applied a Fault Tolerant Control (FTC) scheme to detect sensor and actuator faults, whereas in [47], they employ the FDI approach by using the extended proportional and multiple integral filters.…”

Section: Related Workmentioning

confidence: 99%

A Survey on Sensor- and Communication-Based Issues of Autonomous UAVs

Mykytyn,

Brzozowski,

Dyka

et al. 2024

CMES

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The application field for Unmanned Aerial Vehicle (UAV) technology and its adoption rate have been increasing steadily in the past years. Decreasing cost of commercial drones has enabled their use at a scale broader than ever before. However, increasing the complexity of UAVs and decreasing the cost, both contribute to a lack of implemented security measures and raise new security and safety concerns. For instance, the issue of implausible or tampered UAV sensor measurements is barely addressed in the current research literature and thus, requires more attention from the research community. The goal of this survey is to extensively review state-of-the-art literature regarding common sensor-and communication-based vulnerabilities, existing threats, and active or passive cyberattacks against UAVs, as well as shed light on the research gaps in the literature. In this work, we describe the Unmanned Aerial System (UAS) architecture to point out the origination sources for security and safety issues. We evaluate the coverage and completeness of each related research work in a comprehensive comparison table as well as classify the threats, vulnerabilities and cyber-attacks into sensor-based and communication-based categories. Additionally, for each individual cyber-attack, we describe existing countermeasures or detection mechanisms and provide a list of requirements to ensure UAV's security and safety. We also address the problem of implausible sensor measurements and introduce the idea of a plausibility check for sensor data. By doing so, we discover additional measures to improve security and safety and report on a research niche that is not well represented in the current research literature. KEYWORDSUnmanned aerial vehicle; unmanned aerial system; cyber security and privacy; drone swarm; security vulnerabilities; cyber-threats; cyber-attacks; plausibility check Nomenclature UAV Unmanned aerial vehicle UAS Unmanned aerial system GCS Ground control station IMU Inertial measurement unit FDI Fault detection and isolation FTC Fault tolerant control 1020

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“…In a previous study, 7 the FTC method has been applied only to redundant actuator faults. However, the thrust command is not redundant with right and left elevon commands.…”

Section: Frameworkmentioning

confidence: 99%

“…This model covers both nominal and faulty conditions, so that one is able to keep track of fault probabilities. Based on this approach, improved and applied to longitudinal control of UAV with redundant actuators, 7 the purpose of the work presented here is to investigate the applicability of the reconfiguration framework to multiple actuator faults addressing the case where actuators are not redundant. In particular, the possible failure of the UAV engine is considered and leads to four contributions: first, fault signatures on residuals are used to activate signals allowing an identification of relevant fault parameters; second, a controller is designed by the Linear Quadratic Regulator (LQR) method considering a discounted cost and a bias in the state equation; third, a model predictive control framework is used to take into account the possible cost of switching dynamics; finally, actuator dynamics are taken into account in the state equation.…”

Section: Introductionmentioning

confidence: 99%

Reconfiguration control method for non-redundant actuator faults on unmanned aerial vehicle

Boche

Farges

Plinval

2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this article, an indirect continuous and discrete Fault-Tolerant Control scheme is applied to the longitudinal dynamics of a fixed-wing unmanned aerial vehicle. To address the problem raised by a possible engine fault, the FTC method is adapted to non-redundant actuator faults by considering signatures on residuals, designing discounted cost optimal controllers, using rolling horizon techniques and considering actuator dynamics in the state equation. The efficiency of the proposed approach is demonstrated on a scenario involving thrust and elevon faults during a landing procedure.

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Reconfiguration control method for multiple actuator faults on UAV

Cited by 6 publications

References 9 publications

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

A Survey on Sensor- and Communication-Based Issues of Autonomous UAVs

Reconfiguration control method for non-redundant actuator faults on unmanned aerial vehicle

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