<abstract xmlns="http://www.w3.org/1999/xhtml"><p> A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out to show the performance and effectiveness of the proposed method.</p></abstract>

A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out to show the performance and effectiveness of the proposed method.

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

Qatar Environment and Energy Research Institute, Member of the Qatar Foundation Building CP4, Education City, Doha, 5825 Qatar

Department of Electrical Engineering United Arab Emirates University, PO Box 15551, Al Ain, UAE

Mechanical Engineering Department Higher College of Technology, PO Box 17155, Al Ain, UAE

Modeling, Information and System Lab, Control and Vehicle Group University of Picardie Jules Verne, Chemin du Thil, 80000, Amiens, France

International Journal of Applied Mathematics and Computer Science

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

A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC...

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

Data publikacji: 25 mar 2015

Zakres stron: 159 - 174

Otrzymano: 13 lut 2014

DOI: https://doi.org/10.1515/amcs-2015-0012

© by Zhaohui Cen

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