Robust fault diagnosis and fault-tolerant control for nonlinear quadrotor unmanned aerial vehicle system with unknown actuator faults

Guo, Jinjin; Qi, Juntong; Wu, Chong

doi:10.1177/17298814211002734

Cited by 18 publications

(4 citation statements)

References 35 publications

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“…Various FD methods have been proposed with the development of control theory. Hardware redundancy is a traditional approach and has been utilized commonly in aerospace and aerial engineering [Goupil(2011)]. There are two or more sets of sensors such as attitude sensors, inertial navigation, or global navigation satellite system (GNSS) devices are equipped.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear observer-based fault diagnosis for the control system of the stratospheric airship

Zhu

Zheng

et al. 2023

Preprint

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This paper is dedicated to investigating an observer-based fault diagnosis (FD) approach for a Lipschitz nonlinear system and applied in a stratospheric airship (SA) flight control system. The system model uncertainties, external disturbances, and sensor noise are considered. Firstly, a detailed model of the SA is obtained by kinematics and dynamics. Then a nonlinear fault detection observer is designed via Linear Matrix Inequation (LMI) in H∞ framework, and a bank of unknown input observers is activated for isolating the faulty component. Moreover, to estimate the size of the fault, an expanded robust estimation observer is designed concerning states and fault estimator error. All of the mentioned observers are designed by a matrix inequation formulation, which reformulated the nonlinear system to a generalized Linear Parameter Varying (LPV) system mathematically. The proposed FD scheme is applied to the control system of a SA and its effectiveness is illustrated. Mathematics Subject Classification (2020) MSC code1 · MSC code2 · more

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Section: Introductionmentioning

confidence: 99%

Nonlinear observer-based fault diagnosis for the control system of the stratospheric airship

Zhu

Zheng

et al. 2023

Preprint

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“…Apart from tri-rotor UAVs, studies of the FTC of other types of multi-rotor UAVs, such as quadrotor UAVs and hexacopter UAVs, may also bring us inspiration. For the FTC of quadrotor UAVs and hex-rotor UAVs, algorithms such as PID control [13], adaptive control [14], sliding mode control [15], and robust control [16] have been utilized [17,18]. In [19], a data-driven fault-tolerant synchronization control scheme based on a distributed observer and optimal control policy was investigated for unknown cooperative quadrotors subject to nonlinearities and multiple actuator anomalies in the quadrotor dynamics.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior

Hao

et al. 2023

Actuators

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In this paper, a new nonlinear robust fault-tolerant tracking control method is proposed for a tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with unknown external disturbances. The actuator anomalies are modeled as time-varying multiplicative parameters to improve the model accuracy. The control system is decoupled into two parts, including the inner-loop attitude control and the outer-loop position control. The radial basis function neural network (RBFNN) is utilized in the outer loop to estimate the actuator anomalies and external disturbances, and then the state feedback controller is employed for the position tracking of the UAV. Then, the robust integral of the signum of the error (RISE) controller is designed for the inner loop to compensate for actuator anomalies and external disturbances. The composite stability of the closed-loop system and the asymptotical tracking performance are proved via a Lyapunov-based stability analysis. Numerical simulations based on the proposed fault tolerant control (FTC) scheme as well as the comparison results with a sliding mode-based FTC method validate the effectiveness and better performance of the proposed control design.

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“…4 As technology evolves, the study of flexible-joint robotic manipulators (FJRM) has received close attention from researchers and has become a popular topic in last few years. Since the FJRM is a highly nonlinear system, in order for FJRM to work well with the surrounding, scholars have developed diverse control methods, such as feedback linearization control, 5,6 passivity control, 7,8 singular perturbation control, 9,10 adaptive sliding mode control (SMC), 11,12 proportional-derivative control, 13,14 fault tolerant control, 15,16 and adaptive backstepping control. 15,17,18 Among them, the backstepping technique is a Lyapunov-based recursive scheme, which is a broadly used method for nonlinear system control.…”

Section: Introductionmentioning

confidence: 99%

Estimator and command filtering-based neural network control for flexible-joint robotic manipulators driven by electricity

Wen

2022

International Journal of Advanced Robotic Systems

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The article proposes an estimator and command filtering-based adaptive neural network controller for the electrically driven flexible-joint robotic manipulators with output constraints under the circumstance of matched and mismatched disturbances in system dynamics. The presented method is designed based on electrically driven model of the n-link flexible-joint robotic manipulators, which introduces more uncertainties and increases the dimensionality of the system but is more in line with practical. In view of the properties of fast convergence speed and great estimation performance in radial basis function neural network, radial basis function neural network is used to approximate the internal uncertain dynamic parameters of the system. An observer-based estimator is introduced for estimating the matched and mismatched disturbances in flexible-joint robotic manipulator dynamics. As to the differential explosion problem in backstepping control design, this article utilizes second-order command filters to overcome it. This article also adopts barrier Lyapunov functions for implementing output constraint to consider security issues in practical use. For demonstrating the effectiveness of the proposed controller, numerical simulations on two-link flexible-joint robotic manipulators are conducted. On the basis of the comparisons among estimator and command filtering-based adaptive neural network controller and other advanced controllers, the superiorities of estimator and command filtering-based adaptive neural network controller in several areas are proved.

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Robust fault diagnosis and fault-tolerant control for nonlinear quadrotor unmanned aerial vehicle system with unknown actuator faults

Cited by 18 publications

References 35 publications

Nonlinear observer-based fault diagnosis for the control system of the stratospheric airship

Nonlinear observer-based fault diagnosis for the control system of the stratospheric airship

Nonlinear Robust Fault-Tolerant Tracking Control of a Tri-Rotor UAV against Actuator’s Abnormal Behavior

Estimator and command filtering-based neural network control for flexible-joint robotic manipulators driven by electricity

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