Flight Demonstrations of Fault Tolerant Flight Control Using Small UAVs

2013 ◽  
pp. 3-19
Author(s):  
Shinji Suzuki ◽  
Yuka Yoshimatsu ◽  
Koichi Miyaji
Keyword(s):  
Flight Control ◽  
Fault Tolerant

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

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

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.

EXPERIENCE IN METRICS AND MEASUREMENTS FOR N-VERSION PROGRAMMING

1994 ◽  
Vol 01 (01) ◽  
pp. 41-62 ◽  
Author(s):  
MICHAEL R. LYU ◽  
JIA-HONG CHEN ◽  
ALGIRDAS AVIŽIENIS
Keyword(s):  
Life Cycle ◽  
Flight Control ◽  
Fault Tolerant ◽  
Structural Diversity ◽  
Control Software ◽  
Baseline Design ◽  
Software Diversity ◽  
Points Of View ◽  
Design Diversity ◽  
Diversity Measurement

The N-Version Programming (NVP) approach applies the idea of design diversity to obtain fault-tolerant software units, called N-Version Software (NVS) units. The effectiveness of this approach is examined by the software diversity achieved in the member versions of an NVS unit. We define and formalize the concept of design diversity and software diversity in this paper. Design diversity is a property naturally applicable to the NVP process to increase its fault-tolerance attributes. The baseline design diversity is characterized by the employment of independent programming teams in the NVP. More design diversity investigations could be enforced in the NVP design process, including different languages, different tools, different algorithms, and different methodologies. Software diversity is the resulting dissimilarities appearing in the NVS member versions. We characterize it from four different points of view that are designated as: structural diversity, fault diversity, tough-spot diversity, and failure diversity. Our goals are to find a way to quantify software diversity and to investigate the measurements which can be applied during the life cycle of NVS to gain confidence that operation will be dependable when NVS is actually employed. The versions from a six-language N-Version Programming project for fault-tolerant flight control software were used in the software diversity measurement.

Dynamic Sensor Allocation Framework for Fault Tolerant Flight Control

2014 ◽  
Vol 47 (3) ◽  
pp. 3477-3482 ◽  
Author(s):  
Tamás Peni ◽  
Bálint Vanek ◽  
Zoltán Szabó ◽  
József Bokor
Keyword(s):  
Flight Control ◽  
Fault Tolerant

scholarly journals Incremental Sliding-Mode Fault-Tolerant Flight Control

2019 ◽  
Vol 42 (2) ◽  
pp. 244-259 ◽  
Author(s):  
Xuerui Wang ◽  
Erik-Jan van Kampen ◽  
Qiping Chu ◽  
Peng Lu
Keyword(s):  
Flight Control ◽  
Fault Tolerant ◽  
Sliding Mode

scholarly journals Model-Based Condition-Monitoring and Jamming-Tolerant Control of an Electro-Mechanical Flight Actuator with Differential Ball Screws

Actuators ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 230
Author(s):  
Gianpietro Di Rito ◽  
Benedetto Luciano ◽  
Nicola Borgarelli ◽  
Marco Nardeschi
Keyword(s):  
Condition Monitoring ◽  
Flight Control ◽  
Permanent Magnets ◽  
Deterministic Model ◽  
Fault Tolerant ◽  
Synchronous Motors ◽  
Model Based ◽  
Aerospace Applications ◽  
Major Fault ◽  
Potential Applicability

The work deals with the development of deterministic model-based condition-monitoring algorithms for an electromechanical flight control actuator with fault-tolerant architecture, in which two permanent magnets synchronous motors are coupled with differential ball screws in speed-summing paradigm, so that the system can operate even after a motor fault, an inverter fault or a mechanical jamming. To demonstrate the potential applicability of the system for safety-critical aerospace applications, the failure transients related to major fault modes have to be characterised and analysed. By focusing the attention to jamming faults, a detailed nonlinear model of the actuator is developed from physical first principles and experimentally validated in both time and frequency domains for normal condition and with different types of jamming. The validated model is then used to design the condition-monitoring algorithms and to characterize the system failure transient, by simulating mechanical blocks in different locations of the transmission. The operability after the fault, obtained via fault-tolerant control strategy and position regulator reconfiguration, is also verified, by highlighting and discussing possible enhancements and criticalities.

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