Robust Fault Tolerant Longitudinal Aircraft Control

Dhadekar, Dinesh D.; Talole, S. E.

doi:10.1016/j.ifacol.2018.05.101

Cited by 12 publications

(24 citation statements)

References 11 publications

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“…Specifically, if the frequency range of the unknown system dynamics and external disturbances is limited by ω f , then the choice of G f ( s ) can be a low-pass filter given by 29,34 with τ = 1/ ω f > 0. In other words, the bandwidth, ω f , is such that it covers the frequency spectrum of the uncertainty and disturbances.…”

Section: Uncertainty and Disturbance Estimationmentioning

confidence: 99%

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

Dhadekar

Talole

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

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Section: Uncertainty and Disturbance Estimationmentioning

confidence: 99%

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

Dhadekar

Talole

2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…If the frequency range of the lumped disturbance is limited by v f and if the derivative of lumped disturbance, i.e., _ d is not small but € d is, then the G f (s) can be chosen as a second-order low-pass filter given by Dhadekar and Talole (2018):…”

Section: Uncertainty and Disturbance Estimatormentioning

confidence: 99%

“…Addressing some of the issues associated with the TDC, a novel formulation for uncertainty and disturbance estimation, designated as the UDE, is proposed in Zhong and Rees (2004). Since then, the approach has been further enriched and also used in diverse applications Talole and Phadke (2008, 2009), Talole et al (2011), Dhadekar and Patre (2017), Dhadekar and Talole (2018), Kodhanda et al (2017), Chandar and Talole (2014), Dhadekar et al (2021), Dash et al (2020) and it has been shown that the technique offers a promising solution to tackle control problems of uncertain linear/nonlinear systems subject to external disturbances. The technique is based on the assumption that a signal can be approximated and estimated using an appropriate filter with sufficient bandwidth.…”

Section: Robust Fault-tolerant Control Designmentioning

confidence: 99%

“…If the frequency range of the lumped disturbance is limited by ω f and if the derivative of lumped disturbance, i.e., trueḋ is not small but trued̈ is, then the G f ( s ) can be chosen as a second-order low-pass filter given by Dhadekar and Talole (2018): with τ = (1/ ω f ) > 0. In other words, an ideal bandwidth, ω f , is anticipated to be large enough to cover the spectrum of lumped disturbance.…”

Section: Robust Fault-tolerant Control Designmentioning

confidence: 99%

“…As it is well-known, engineering systems are prone to faults and failures and therefore, a design that caters for these happenings is necessitated to maintain satisfactory performance and stability when fault/failure occurs. The area of fault-tolerant control (FTC) aims to achieve this objective Jiang and Zhao (2000), Xiao et al (2018), Alwi and Edwards (2014) and to this end, various approaches for control of systems with actuator faults/failure have been proposed in the literature Van et al (2018), Wang et al (2016aWang et al ( , 2016b, Hannan et al (2016), Wang et al (2017), Jin et al (2016), Wu et al (2014), Castaldi and Mimmo (2013), Fekih (2014), Dhadekar and Talole (2018), Chakravarty and Mahanta (2016), Xu et al (2015), Chadli et al (2013), Li et al (2019), Zhang et al (2018). In safety-critical systems where no fault/ failure can be tolerated, a redundant hardware is often provided to achieve fault tolerance Blanke et al (2000) and to use the redundancy in case of actuator fault/failure, a control allocation scheme which consigns the control demand from faulty actuator to the redundant one is needed.…”

Section: Introductionmentioning

confidence: 99%

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Robust fault-tolerant flight path angle control

Dhadekar

Misra

Talole

2021

AEAT

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Purpose The purpose of the paper is to design a nonlinear dynamic inversion (NDI) based robust fault-tolerant control (FTC) for aircraft longitudinal dynamics subject to system nonlinearities, aerodynamic parametric variations, external wind disturbances and fault/failure in actuator. Design/methodology/approach An uncertainty and disturbance estimator (UDE) technique is used to provide estimate of total disturbance enabling its rejection and thereby achieving robustness to the proposed NDI controller. As needed in the NDI design, the successive derivatives of the output are obtained through an UDE robustified observer making the design implementable. Further, a control allocation scheme consigns control command from primary actuator to the secondary one in the event of fault/failure in the primary actuator. Findings The robustness is achieved against the perturbations mentioned above in the presence of actuator fault/failure. Practical implications Lyapunov analysis proves practical stability of the controller–observer structure. The efficacy and superiority of the proposed design has been demonstrated through Monte-Carlo simulation. Originality/value Unlike in many FTC designs, robustness is provided against system nonlinearities, aerodynamic parametric variations, external wind disturbances and sinusoidal input disturbance using a single control law which caters for fault-free, as well as faulty actuator scenario.

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