scholarly journals Fault Tolerant Control Algorithm of Hexarotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Songming Jiao ◽  
Haiyue Gao ◽  
Xiaokun Zheng ◽  
Dengpan Liu
Keyword(s):  
Attitude Control ◽  
Fault Tolerant ◽  
Plant Protection ◽  
Rapid Development ◽  
Fault Tolerant Control ◽  
Control Law ◽  
Control Distribution ◽  
Disturbance Rejection Control ◽  
Safety Work ◽  
And Control

As the best representative of the current cutting-edge technology, unmanned aerial vehicle (UAV) is widely used in various fields such as electric power inspection, agriculture, forestry and plant protection, fire rescue, and film and television shooting. With the rapid development of UAV, the safety work of UAV has become more important. In order to improve the safety of hexarotor UAV during flight, a fault-tolerant control scheme independent of basic control law and control distribution is designed in this paper. Firstly, the linear active disturbance rejection control (LADRC) was used as the basic control law for attitude control of hexarotor UAV. Secondly, in the case of actuator failure of hexarotor UAV, a fault observer was used to estimate fault information accurately. Then, on this basis, the control distribution matrix was adjusted to reduce the use of the faulty motor, and the purpose of fault-tolerant control was achieved. Finally, simulation experiments and actual flight experiments were carried out to verify the effectiveness of the proposed scheme. Experimental results show that the proposed scheme can improve the robustness of the control system and the flight safety of UAV.

scholarly journals Sensor Fault-Tolerant Control Design for Mini Motion Package Electro-Hydraulic Actuator

Processes ◽  
2019 ◽  
Vol 7 (2) ◽  
pp. 89 ◽  
Author(s):  
Tan Van Nguyen ◽  
Cheolkeun Ha
Keyword(s):  
Tracking Control ◽  
Position Control ◽  
Fault Tolerant ◽  
Human Life ◽  
Rapid Development ◽  
Fault Tolerant Control ◽  
Superior Performance ◽  
Linear Matrix ◽  
Sensor Faults ◽  
Sensor Fault

With the rapid development of computer science and information and communication technology (ICT), increasingly intelligent, and complex systems have been applied to industries as well as human life. Fault-tolerant control (FTC) has, therefore, become one of the most important topics attracting attention from both engineers and researchers to maintain system performances when faults occur. The ultimate goal of this study was to develop a sensor fault-tolerant control (SFTC) to enhance the robust position tracking control of a class of electro-hydraulic actuators called mini motion packages (MMPs), which are widely used for applications requiring large force-displacement ratios. First, a mathematical model of the MMP system is presented, which is then applied in the position control process of the MMP system. Here, a well-known proportional, integrated and derivative (PID) control algorithm is employed to ensure the positional response to the reference position. Second, an unknown input observer (UIO) is designed to estimate the state vector and sensor faults using a linear matrix inequality (LMI) optimization algorithm. Then an SFTC is used to deal with sensor faults of the MMP system. The SFTC is formed of the fault detection and the fault compensation with the goal of determining the location, time of occurrence, and magnitude of the faults in the fault signal compensation process. Finally, numerical simulations were run to demonstrate the superior performance of the proposed approach compared to traditional tracking control.

scholarly journals Remote Fault-Tolerant Control for Industrial Smart Surveillance System

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Atif Mahmood ◽  
Abdul Qayyum Khan ◽  
Ghulam Mustafa ◽  
Nasim Ullah ◽  
Muhammad Abid ◽  
...  
Keyword(s):  
Surveillance System ◽  
Fault Tolerant ◽  
Sufficient Conditions ◽  
Fault Tolerant Control ◽  
Linear Matrix ◽  
Control Law ◽  
Uncertain Network ◽  
Smart Surveillance ◽  
Communication Links ◽  
Smart Surveillance System

We design a remote fault-tolerant control for an industrial surveillance system. The designed controller simultaneously tolerates the effects of local faults of a node, the propagated undesired effects of neighboring connected nodes, and the effects of network-induced uncertainties from a remote location. The uncertain network-induced time delays of communication links from the sensor to the controller and from the controller to the actuator are modeled using two separate Markov chains and packet dropouts using the Bernoulli process. Based on linear matrix inequalities, we derive sufficient conditions for output feedback-based control law, such that the controller does not directly depend on output, for stochastic stability of the system. The simulation study shows the effectiveness of the proposed approach.

From data to diagnosis and control using generalized orthonormal basis filters. Part II: Model predictive and fault tolerant control

2006 ◽  
Vol 16 (2) ◽  
pp. 157-175 ◽  
Author(s):  
Sachin C. Patwardhan ◽  
Seema Manuja ◽  
Shankar Narasimhan ◽  
Sirish L. Shah
Keyword(s):  
Orthonormal Basis ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
And Control

Active Fault Tolerant Control Based on Fault Estimation

2014 ◽  
Vol 635-637 ◽  
pp. 1199-1202 ◽  
Author(s):  
Zheng Gao Hu ◽  
Guo Rong Zhao ◽  
Da Wang Zhou
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Sliding Mode Observer ◽  
Fault Estimation ◽  
Control Law ◽  
Active Fault Tolerant Control ◽  
The Stability ◽  
Twisting Algorithm

For the chattering problem in the traditional sliding mode observer-based fault estimation, a second order sliding mode observer based on the Super-twisting algorithm was proposed. In order to avoid the cumbersome process of proving the stability of the Super-twisting algorithm, a Lyapunov function was adopted. An active fault tolerant control law was designed based on the fault estimation. Finally, simulation show the effectiveness of the proposed approach.

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