scholarly journals Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures

2018 ◽  
Vol 36 (4) ◽  
pp. 748-753 ◽  
Author(s):  
Xiaojun Xing ◽  
Xiaoran Chen ◽  
Longliang Huang ◽  
Dongsheng Fan
Keyword(s):  
Flight Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Digital Simulation ◽  
Flight Test ◽  
Rotor Blades ◽  
Integral Sliding Mode ◽  
Actuator Failures ◽  
Quadrotor Uav

The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs.

scholarly journals A Fault Tolerant Direct Control Allocation Scheme with Integral Sliding Modes

2015 ◽  
Vol 25 (1) ◽  
pp. 93-102 ◽  
Author(s):  
Mirza Tariq Hamayun ◽  
Christopher Edwards ◽  
Halim Alwi ◽  
Abdulrahman Bajodah
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Allocation ◽  
Direct Control ◽  
Control Effort ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Actuator Failures ◽  
Mode Control

Abstract In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be retained. This paper considers the possibility of introducing fault tolerance even if fault or failure information is not provided to the control strategy. To demonstrate the efficacy of the proposed scheme, a high fidelity nonlinear model of a large civil aircraft is considered in the simulations in the presence of wind, gusts and sensor noise.

scholarly journals U-Model-Based Sliding Mode Controller Design for Quadrotor UAV Control Systems

2020 ◽  
Vol 2020 ◽  
pp. 1-11 ◽  
Author(s):  
Rui Wang ◽  
Lei Gao ◽  
Chengrui Bai ◽  
Hui Sun
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Design Method ◽  
Actuator Failures ◽  
Quadrotor Uav ◽  
Model Based ◽  
Aerial Vehicle ◽  
The Stability

This paper proposes a U-model-based fault-tolerant controller design method in order to ensure the unmanned aerial vehicle (UAV) flight performance when subject to the actuator failures. Depending on the decoupled quadrotor model, this paper presents a sliding mode control method based on U-model in detail and realizes fault-tolerant control for the quadrotor UAV with the stability theory and simulation experiment verifications. The results show that the new controller designed by using the U-model method can simplify the controller design process which has good fault-tolerant characteristics when actuator faults occur compared with the traditional method.

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.

Sign in / Sign up

Export Citation Format

Share Document