Fuzzy adaptive nonlinear sensor‐fault tolerant control for a quadrotor unmanned aerial vehicle

2018 ◽  
Vol 22 (3) ◽  
pp. 1163-1176
Author(s):  
Chaofang Hu ◽  
Lei Cao ◽  
Xianpeng Zhou ◽  
Binghan Sun ◽  
Na Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Sensor Fault ◽  
Aerial Vehicle ◽  
Fuzzy Adaptive

Command filter-based fuzzy adaptive nonlinear sensor-fault tolerant control for a quadrotor unmanned aerial vehicle

2019 ◽  
Vol 42 (2) ◽  
pp. 198-213
Author(s):  
Chaofang Hu ◽  
Zelong Zhang ◽  
Xianpeng Zhou ◽  
Na Wang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Fault Tolerant ◽  
Nonlinear Function ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Sensor Fault ◽  
Bias Drift ◽  
Aerial Vehicle ◽  
Command Filter ◽  
Fuzzy Adaptive

In this paper, a novel asymptotic fuzzy adaptive nonlinear fault tolerant control (FTC) scheme is presented for the under-actuated dynamics of a quadrotor unmanned aerial vehicle (UAV) subject to diverse sensor faults. The proposed FTC approach can deal with both additive sensor faults (bias, drift, loss of accuracy) and multiplicative sensor fault (loss of effectiveness). The overall dynamics is separated into position loop and attitude loop for FTC controllers design. Combining uncertain parameters and external disturbances, the four types of faults occurring in velocity sensors and Euler angle rate sensors are transformed equivalently into the unknown nonlinear function vectors and uncertain control gains. Fuzzy logic systems are used to approximate the lumped nonlinear functions, and adaptive parameters are estimated online. Nussbaum technique is introduced to deal with the unknown control gains. For both control loops, FTC controllers are designed via command filter-based backstepping approach, in which sliding mode control is introduced to establish asymptotic stability. All tracking error signals of the closed-loop control system are proved to converge to zero asymptotically. Finally, simulation comparisons with other methods demonstrate the effectiveness of the proposed FTC approach for quadrotor UAV with sensor faults.

scholarly journals Sliding Mode Fault Tolerant Control for Unmanned Aerial Vehicle with Sensor and Actuator Faults

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 643 ◽  
Author(s):  
Juan Tan ◽  
Yonghua Fan ◽  
Pengpeng Yan ◽  
Chun Wang ◽  
Hao Feng
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Health Management ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Process ◽  
Fault Tolerant Control ◽  
Accelerometer Sensor ◽  
Actuator Failures ◽  
Aerial Vehicle ◽  
Gyroscope Sensor

The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.

Sensor fault–tolerant control of a quadrotor unmanned aerial vehicle

2021 ◽  
pp. 095441002110155
Author(s):  
Mehmet Gokberk Patan ◽  
Fikret Caliskan
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Unmanned Aerial Vehicle ◽  
Unscented Kalman Filter ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Cubature Kalman Filter ◽  
Non Linear ◽  
Aerial Vehicle

This article handles the issue of fault-tolerant control of a quadrotor unmanned aerial vehicle (UAV) in the existence of sensor faults. A general non-linear model of the quadrotor is presented. Several non-linear Kalman filters namely, the extended Kalman filter, the unscented Kalman filter and the cubature Kalman filter (CKF) are utilized to estimate the states of the quadrotor and to compare the estimation performances. Some flight scenarios are simulated, and the simulation results show that the CKF has the smallest estimation error as expected in theory. Control of the quadrotor heavily depends on the measured values received from sensors. Therefore, the control system requires fault-free sensors. However, small quadrotors and UAVs are mostly equipped with low-cost and low-quality sensors, and hence, they may fail to indicate correct measurement values. If the sensors are faulty, then the control system itself should be actively tolerant to sensor faults. Measurements of these kinds of sensors suffer from bias and external noise due to temperature variations, vibration and other external conditions. Since the bias is one of the very common faults in these sensors, a sensor bias is taken into consideration as a fault and occurs abruptly at a certain time and continues throughout the considered scenarios. By using the residual signals generated by the non-linear filters, sensor faults are detected and isolated. Then, two different methods are proposed for removing the effects of faults and achieving active fault–tolerant control. The effectiveness of the presented two techniques is shown in the simulations.

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