Active Fault-Tolerant Tracking Control of a Quadrotor UAV

2018 ◽  
Author(s):  
Yujiang Zhong ◽  
Youmin Zhang ◽  
Wei Zhang
Keyword(s):  
Tracking Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Quadrotor Uav

H ∞ Fuzzy Tracking Control Design for Nonlinear Active Fault Tolerant Control Systems

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Huai-Ning Wu ◽  
Ming-Zhen Bai
Keyword(s):  
Control Systems ◽  
Fuzzy System ◽  
Tracking Control ◽  
Closed Loop ◽  
Active Fault ◽  
Fault Tolerant ◽  
Control Design ◽  
Fault Tolerant Control ◽  
System Component ◽  
Active Fault Tolerant Control

This paper studies the problem of H∞ fuzzy tracking control design for nonlinear active fault tolerant control systems based on the Takagi and Sugeno fuzzy model. Two random processes with Markovian transition characteristics are introduced to model the system component fault process and the fault detection and isolation decision process used to reconfigure the control law, respectively. The random behavior of the FDI process is conditioned on the fault process state. The parallel distributed compensation scheme is employed for the control design. As a result, a closed-loop fuzzy system with two Markovian jump parameters is obtained. Based on a stochastic Lyapunov function, a sufficient condition for stochastic stability of the closed-loop fuzzy system with a guaranteed H∞ model reference tracking performance is first derived. A linear matrix inequality approach to the control design is then developed to reduce the effect of the external disturbance and reference input on tracking error as small as possible. Finally, a simulation example is presented to illustrate the effectiveness of the proposed design method.

Active fault-tolerant attitude tracking control with adaptive gain for spacecrafts

2020 ◽  
Vol 98 ◽  
pp. 105706 ◽  
Author(s):  
Hui Hu ◽  
Lei Liu ◽  
Yongji Wang ◽  
Zhongtao Cheng ◽  
Qinqin Luo
Keyword(s):  
Tracking Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Attitude Tracking ◽  
Attitude Tracking Control

Active fault-tolerant tracking control of a quadrotor with model uncertainties and actuator faults

2019 ◽  
Vol 20 (1) ◽  
pp. 95-106 ◽  
Author(s):  
Yu-jiang Zhong ◽  
Zhi-xiang Liu ◽  
You-min Zhang ◽  
Wei Zhang ◽  
Jun-yi Zuo
Keyword(s):  
Tracking Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Actuator Faults ◽  
Model Uncertainties

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.

Sign in / Sign up

Export Citation Format

Share Document