<abstract xmlns="http://www.w3.org/1999/xhtml"><p>A major goal in modern flight control systems is the need for improving reliability. This work presents a health-aware and fault-tolerant control approach for an octorotor UAV that allows distributing the control effort among the available actuators based on their health information. However, it is worth mentioning that, in the case of actuator fault occurrence, a reliability improvement can come into conflict with UAV controllability. Therefore, system reliability sensitivity is redefined and modified to prevent uncontrollable situations during the UAV’s mission. The priority given to each actuator is related to its importance in system reliability. Moreover, the proposed approach can reconfigure the controller to compensate actuator faults and improve the overall system reliability or delay maintenance tasks.</p></abstract>

A major goal in modern flight control systems is the need for improving reliability. This work presents a health-aware and fault-tolerant control approach for an octorotor UAV that allows distributing the control effort among the available actuators based on their health information. However, it is worth mentioning that, in the case of actuator fault occurrence, a reliability improvement can come into conflict with UAV controllability. Therefore, system reliability sensitivity is redefined and modified to prevent uncontrollable situations during the UAV’s mission. The priority given to each actuator is related to its importance in system reliability. Moreover, the proposed approach can reconfigure the controller to compensate actuator faults and improve the overall system reliability or delay maintenance tasks.

Health–Aware and Fault–Tolerant Control of an Octorotor UAV 	System Based on Actuator Reliability

Polytechnic University of Catalonia (UPC)

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

A major goal in modern flight control systems is the need for improving reliability. This work presents a health-aware and fault-tolerant control approach for...

Health–Aware and Fault–Tolerant Control of an Octorotor UAV System Based on Actuator Reliability

Published Online: Apr 03, 2020

Page range: 47 - 59

Received: Dec 30, 2018

Accepted: Nov 17, 2019

DOI: https://doi.org/10.34768/amcs-2020-0004

Keywords
prognostics and health management, health-aware control, fault-tolerant control, reliability analysis, octorotor, UAV

© 2020 Jean Carlo Salazar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Health–Aware and Fault–Tolerant Control of an Octorotor UAV System Based on Actuator Reliability

Published Online: Apr 03, 2020

Page range: 47 - 59

Received: Dec 30, 2018

Accepted: Nov 17, 2019

DOI: https://doi.org/10.34768/amcs-2020-0004

Keywordsprognostics and health management, health-aware control, fault-tolerant control, reliability analysis, octorotor, UAV

© 2020 Jean Carlo Salazar et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
prognostics and health management, health-aware control, fault-tolerant control, reliability analysis, octorotor, UAV