scholarly journals Adaptive Fault-Tolerant Control of a Hybrid VTOL UAV against Actuator Faults and Model Uncertainties under Fixed-Wing Mode

2022 ◽  
Vol 2022 ◽  
pp. 1-11
Author(s):  
Ao He ◽  
Yinong Zhang ◽  
Huimin Zhao ◽  
Ban Wang ◽  
Zhenghong Gao
Keyword(s):  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Tracking Performance ◽  
Actuator Faults ◽  
Level Control ◽  
Model Uncertainties ◽  
Virtual Control ◽  
Control Signals

This paper proposes an adaptive fault-tolerant control strategy for a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) to simultaneously compensate actuator faults and model uncertainties. With the proposed adaptive control schemes, both actuator faults and model uncertainties can be accommodated without the knowledge of fault information and uncertainty bounds. The proposed control scheme is constructed with two separate control modules. The low-level control allocation module is used to distribute the virtual control signals among the available redundant actuators. The high-level control module is constructed with an adaptive sliding mode controller, which is employed to maintain the overall system tracking performance in both faulty and uncertain conditions. In the case of actuator faults and model uncertainties, the adaptive scheme will be triggered to generate more virtual control signals to compensate the virtual control error and maintain the desired system tracking performance. The effectiveness of the proposed control strategy is validated through comparative simulation tests under different faulty and uncertain scenarios.

scholarly journals Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1541 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Nguyen Xuan Mung ◽  
Le Nhu Ngoc Thanh Ha ◽  
Tuan Tu Huynh ◽  
Sung Kyung Hong
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Model Uncertainties ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

This study investigates the design of fault-tolerant control involving adaptive nonsingular fast terminal sliding mode control and neural networks. Unlike those of previous control strategies, the adaptive law of the investigated algorithm is considered in both continuous and discontinuous terms, which means that any disturbances, model uncertainties, and actuator faults can be simultaneously compensated for. First, a quadcopter model is presented under the conditions of disturbances and uncertainties. Second, normal adaptive nonsingular fast terminal sliding mode control is utilized to handle these disturbances. Thereafter, fault-tolerant control based on adaptive nonsingular fast terminal sliding mode control and neural network approximation is presented, which can handle the actuator faults, model uncertainties, and disturbances. For each controller design, the Lyapunov function is applied to validate the robustness of the investigated method. Finally, the effectiveness of the investigated control approach is presented via comparative numerical examples under different fault conditions and uncertainties.

scholarly journals Backstepping Fault-Tolerant Control for Unmanned Thrust-Vectoring Aircraft Based on Sliding-Mode Observer

2018 ◽  
Vol 36 (5) ◽  
pp. 978-987
Author(s):  
Bingqian Li ◽  
Wenhan Dong ◽  
Xiaoshan Ma
Keyword(s):  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Surface Damage ◽  
Sliding Mode Observer ◽  
Control Surface ◽  
Actuator Faults ◽  
Thrust Vectoring ◽  
Fault Parameters ◽  
Uncertainty Control

In this paper, a backstepping fault-tolerant control based on sliding-mode observer is proposed for the unmanned thrust-vectoring aircraft (UTVA) control. First, the UTVA model with the uncertainty, control surface damage and actuator faults is described, which is divided into fast loop and slow loop. Next, the cascade observers including a high-order SMO and the discontinuous projection adaptive law are proposed to estimate the states with compensating the uncertainty and control surface damage, and the sliding-mode observer is designed to identify actuator faults and estimate fault parameters. Then, the backstepping fault-tolerant control combining the estimation of states and fault parameters is proposed to achieve the global fault-tolerant control, which compensates the uncertainty, control surface damage and actuator faults. Finally, simulation results are given to demonstrate the effectiveness for UTVA.

Adaptive fault-tolerant control for active suspension systems based on the terminal sliding mode approach

2019 ◽  
Vol 234 (2) ◽  
pp. 501-511
Author(s):  
Amirhossein Kazemipour ◽  
Alireza B Novinzadeh
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Active Suspension ◽  
Suspension System ◽  
Terminal Sliding Mode ◽  
Car Suspension ◽  
Suspension Model

In this paper, a control system is designed for a vehicle active suspension system. In particular, a novel terminal sliding-mode-based fault-tolerant control strategy is presented for the control problem of a nonlinear quarter-car suspension model in the presence of model uncertainties, unknown external disturbances, and actuator failures. The adaptation algorithms are introduced to obviate the need for prior information of the bounds of faults in actuators and uncertainties in the model of the active suspension system. The finite-time convergence of the closed-loop system trajectories is proved by Lyapunov's stability theorem under the suggested control method. Finally, detailed simulations are presented to demonstrate the efficacy and implementation of the developed control strategy.

Adaptive fault tolerant control of dissimilar redundant actuation system of civil aircraft based on integral sliding mode control strategy

2019 ◽  
Vol 41 (13) ◽  
pp. 3756-3768 ◽  
Author(s):  
Salman Ijaz ◽  
Mirza Tariq Hamayun ◽  
Lin Yan ◽  
Hamdoon Ijaz ◽  
Cun Shi
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Redundant Actuation ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Actuation System ◽  
Civil Aircraft

In modern aircraft, the dissimilar redundant actuation system is used to resolve the actuator failure issues due to the common cause, thus increasing the system reliability. This paper proposes an adaptive integral sliding mode fault tolerant control strategy to deal with actuator fault/failure in the dissimilar redundant actuation system of civil aircraft. To cope with the unknown actuator faults, the adaptive integral sliding mode controller is designed where the modulation gain is made adaptive to the fault. To deal with the complete failure of certain actuator, the integral sliding mode control is integrated with control allocation scheme and distribute the control input signals to the redundant actuators. The performance of the proposed scheme is tested on the nonlinear model of dissimilar redundant actuation system, where the effect of external airload is accounted during simulations. The effectiveness of the proposed scheme is validated by comparing the simulations with the existing literature.

scholarly journals Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

2019 ◽  
Vol 9 (19) ◽  
pp. 4010 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Fault Estimation ◽  
Time Varying ◽  
Actuator Faults ◽  
Active Fault Tolerant Control

Fault-tolerant control is becoming an interesting topic because of its reliability and safety. This paper reports an active fault-tolerant control method for a quadcopter unmanned aerial vehicle (UAV) to handle actuator faults, disturbances, and input constraints. A robust fault diagnosis based on the H ∞ scheme was designed to estimate the magnitude of a time-varying fault in the presence of disturbances with unknown upper bounds. Once the fault estimation was complete, a fault-tolerant control scheme was proposed for the attitude system, using adaptive sliding mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances. The Lyapunov theory was applied to prove the robustness and stability of the closed-loop system under faulty operation. Simulation results show the effectiveness of the fault diagnosis scheme and proposed controller for handling actuator faults.

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