Systematic Fault Tolerant Control Based on Adaptive Thau Observer Estimation for Quadrotor Uavs

Cen, Zhaohui; Noura, Hassan; Younes, Younes Al

doi:10.1515/amcs-2015-0012

Cited by 30 publications

(23 citation statements)

References 38 publications

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“…In this paper, the problem of controlled flight of a hexacopter in the event of unknown faults or failures within the actuation system is addressed. Although there are several approaches to fault tolerant position control of multirotors which are tested in simulation (Merheb et al, 2015;Cen et al, 2015), there are rather few experimental results which come close to the different application scenarios. Most of them are partial results showing only failure detection and identification (Freddi et al, 2014), or only controller reconfiguration assuming that the fault has been already identified (Achtelik et al, 2012;Du et al, 2015;Schneider et al, 2012;Santos et al, 2015), or using external sensors for having an accurate position measurement (Amoozgar et al, 2012;Dydek et al, 2010;Mueller and D'Andrea, 2014;Saied et al, 2015;Vey and Lunze, 2016), or making computations off-board (Dydek et al, 2013).…”

Section: Introductionmentioning

confidence: 99%

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

Falconí

Angelov

Holzapfel

2018

International Journal of Applied Mathematics and Computer Science

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This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.

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Section: Introductionmentioning

confidence: 99%

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

Falconí

Angelov

Holzapfel

2018

International Journal of Applied Mathematics and Computer Science

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“…In Freddi et al, feedback linearization techniques are adopted in a double‐layer FTC architecture with inner and outer loops, while the fault information is supposed to be available from a FDD module. A systematic FTC method is proposed in Cen et al, where various FTC methods can be coordinated to compensate for failures depending on the FDD results from a Thau observer. Rotondo et al present a robust linear parameter–varying control methodology in a polytopic framework by solving a set of linear matrix inequalities (LMIs), while both regional pole placement and

H_{\infty}

norm bounding constraints can be achieved.…”

Section: Introductionmentioning

confidence: 99%

Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics

Liu

Chen

2017

Intl J Robust & Nonlinear

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Summary This paper presents a retrofit fault‐tolerant tracking control (FTTC) design method with application to an unmanned quadrotor helicopter (UQH). The proposed retrofit fault‐tolerant tracking controller is developed to accommodate loss‐of‐effectiveness faults in the actuators of UQH. First, a state feedback tracking controller acting as the normal controller is designed to guarantee the stability and satisfactory performance of UQH in the absence of actuator faults, while actuator dynamics of UQH are also considered in the controller design. Then, a retrofit control mechanism with integration of an adaptive fault estimator and an adaptive fault compensator is devised against the adverse effects of actuator faults. Next, the proposed retrofit FTTC strategy, which is synthesized by the normal controller and an additional reconfigurable fault compensating mechanism, takes over the control of the faulty UQH to asymptotically stabilize the closed‐loop system with an acceptable performance degradation in the presence of actuator faults. Finally, both numerical simulations and practical experiments are conducted in order to demonstrate the effectiveness of the proposed FTTC methodology on the asymptotic convergence of tracking error for several combinations of loss‐of‐effectiveness faults in actuators.

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“…The approach, in which faults estimates are used in the control structure to compensate the effects of acting faults, is adopted in modern FTC techniques [3], [8], [28]. Integrated single-step methods of fault estimation and FTC, for linear systems subject to bounded actuator or sensor faults, are proposed in [17], [27].…”

Section: Introductionmentioning

confidence: 99%

On fault tolerant control structures incorporating fault estimation

Krokavec¹,

Filasová²,

Liscinsky³

2016

Archives of Control Sciences

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The paper provides the minimal necessary modifications of linear matrix inequality conditions for the mixed H 2 /H ∞ control design as well as for the augmented observer-based fault estimation to be mutually compatible in joint design of integrated fault estimation and fault tolerant control. To be possible, within this integration, to design the controller which guarantees a pre-specified H ∞ norm disturbance attenuation level, the design conditions has to be regularized using the H 2 performance index and, moreover, augmented fault observer must be of enforced dynamics. Analyzing the ambit of performances given on the mixed H 2 /H ∞ design, the joint design conditions are formulated as a minimization problem subject to convex constraints expressed by a system of LMIs. The feasibility of the conditions is demonstrated by a numerical example.

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Systematic Fault Tolerant Control Based on Adaptive Thau Observer Estimation for Quadrotor Uavs

Cited by 30 publications

References 38 publications

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics

On fault tolerant control structures incorporating fault estimation

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