A decentralized fault-tolerant scheme for flight control applications

2000 ◽  
Author(s):  
J.D. Boskovic ◽  
Sai-Ming Li ◽  
R.K. Mehra
Keyword(s):  
Flight Control ◽  
Fault Tolerant ◽  
Control Applications

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

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.

EXPERIENCE IN METRICS AND MEASUREMENTS FOR N-VERSION PROGRAMMING

1994 ◽  
Vol 01 (01) ◽  
pp. 41-62 ◽  
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.

Dynamic Sensor Allocation Framework for Fault Tolerant Flight Control

2014 ◽  
Vol 47 (3) ◽  
pp. 3477-3482 ◽  
Author(s):  
Tamás Peni ◽  
Bálint Vanek ◽  
Zoltán Szabó ◽  
József Bokor
Keyword(s):  
Flight Control ◽  
Fault Tolerant
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