A Simulation Benchmark for Integrated Fault Tolerant Flight Control Evaluation

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.

Download Full-text

Fault tolerant linear parameter varying flight control design, verification and validation

Journal of the Franklin Institute ◽

10.1016/j.jfranklin.2021.02.040 ◽

2021 ◽

Author(s):

Andrés Marcos ◽

Sérgio Waitman ◽

Masayuki Sato

Keyword(s):

Flight Control ◽

Fault Tolerant ◽

Control Design ◽

Verification And Validation ◽

Design Verification ◽

Linear Parameter ◽

Linear Parameter Varying ◽

Parameter Varying

Download Full-text

Adaptive Fault Tolerant Flight Control for Input Redundant Systems Using a Nonlinear Reference Model

IEEE Transactions on Aerospace and Electronic Systems ◽

10.1109/taes.2021.3074198 ◽

2021 ◽

pp. 1-1

Author(s):

Hyunsang Park ◽

Youdan Kim

Keyword(s):

Flight Control ◽

Reference Model ◽

Fault Tolerant ◽

Redundant Systems

Download Full-text

EXPERIENCE IN METRICS AND MEASUREMENTS FOR N-VERSION PROGRAMMING

International Journal of Reliability Quality and Safety Engineering ◽

10.1142/s0218539394000052 ◽

1994 ◽

Vol 01 (01) ◽

pp. 41-62 ◽

Cited By ~ 8

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.

Download Full-text