Reconfigurable fault-tolerant UAV flight control against actuator faults

2016 ◽  
Author(s):  
Ch. Hajiyev
Keyword(s):  
Flight Control ◽  
Fault Tolerant ◽  
Actuator Faults

scholarly journals Robust Fault Tolerant Control for a Class of Time-Delay Systems with Multiple Disturbances

2013 ◽  
Vol 2013 ◽  
pp. 1-8
Author(s):  
Songyin Cao ◽  
Jianzhong Qiao
Keyword(s):  
Time Delay ◽  
Flight Control ◽  
Disturbance Rejection ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Delay Systems ◽  
Actuator Faults ◽  
Flight Control System ◽  
Multiple Disturbances ◽  
Fault Accommodation

A robust fault tolerant control (FTC) approach is addressed for a class of nonlinear systems with time delay, actuator faults, and multiple disturbances. The first part of the multiple disturbances is supposed to be an uncertain modeled disturbance and the second one represents a norm-bounded variable. First, a composite observer is designed to estimate the uncertain modeled disturbance and actuator fault simultaneously. Then, an FTC strategy consisting of disturbance observer based control (DOBC), fault accommodation, and a mixedH2/H∞controller is constructed to reconfigure the considered systems with disturbance rejection and attenuation performance. Finally, simulations for a flight control system are given to show the efficiency of the proposed approach.

Integrated sensor/actuator FDI and reconfigurable control for fault-tolerant flight control system design

2001 ◽  
Vol 105 (1051) ◽  
pp. 525-533 ◽  
Author(s):  
Ch. M. Hajiyevt ◽  
F. Caliskan
Keyword(s):  
Control System ◽  
Flight Control ◽  
Fault Tolerant ◽  
Control System Design ◽  
Actuator Faults ◽  
Flight Control System ◽  
Aircraft Control ◽  
Reconfigurable Control ◽  
Sensor Actuator ◽  
Control Reconfiguration

AbstractIn this paper an approach to fault-tolerant flight control system design based on the integration of sensor/actuator fault detection and isolation (FDI) and reconfigurable control is presented. The effects of the sensor and actuator faults in the innovation process of the Kalman filter are investigated, and a decision approach to isolate the sensor and actuator faults is proposed.The reconfigurable control algorithm based on the Extended Kalman Filter (EKF) is presented. The control reconfiguration procedure is executed by considering the identified control distribution matrix. In the simulations, the longitudinal dynamics of an aircraft control system are considered, and control reconfiguration is examined. In the paper, the principal block diagram of a fault tolerant aircraft control system is offered.

Fault tolerant control against actuator faults based on enhanced PID controller for a quadrotor

2017 ◽  
Vol 89 (3) ◽  
pp. 468-476 ◽  
Author(s):  
Ahmet Ermeydan ◽  
Emre Kiyak
Keyword(s):  
Steady State ◽  
Flight Control ◽  
Pid Controller ◽  
Controller Design ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Actuator Faults ◽  
Content Type ◽  
Path Control ◽  
The Stability

Purpose The purpose of this paper is to present fault tolerant control of a quadrotor based on the enhanced proportional integral derivative (PID) structure in the presence of one or more actuator faults. Design/methodology/approach Mathematical model of the quadrotor is derived by parameter identification of the system for the simulation of the UAV dynamics and flight control in MATLAB/Simulink. An improved PID structure is used to provide the stability of the nonlinear quadcopter system both for attitude and path control of the system. The results of the healty system and the faulty system are given in simulations, together with motor dynamics. Findings In this study, actuator faults are considered to show that a robust controller design handles the loss of effectiveness in motors up to some extent. For the loss of control effectiveness of 20 per cent in first and third motors, psi state follows the reference with steady state error, and it does not go unstable. Motor 1 and Motor 3 respond to given motor fault quickly. When it comes to one actuator fault, steady state errors remain in some states, but the system does not become unstable. Originality/value In this paper, an enhanced PID controller is proposed to keep the quadrotor stable in case of actuator faults. Proposed method demonstrates the effectiveness of the control system against motor faults.

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.

scholarly journals A Robust Fault-Tolerant Predictive Control for Discrete-Time Linear Systems Subject to Sensor and Actuator Faults

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2307
Author(s):  
Sofiane Bououden ◽  
Ilyes Boulkaibet ◽  
Mohammed Chadli ◽  
Abdelaziz Abboudi
Keyword(s):  
Model Predictive Control ◽  
Linear Systems ◽  
Predictive Control ◽  
Robust Stability ◽  
Discrete Time ◽  
Fault Tolerant ◽  
Linear Matrix ◽  
Input Constraints ◽  
Actuator Faults ◽  
Time Linear

In this paper, a robust fault-tolerant model predictive control (RFTPC) approach is proposed for discrete-time linear systems subject to sensor and actuator faults, disturbances, and input constraints. In this approach, a virtual observer is first considered to improve the observation accuracy as well as reduce fault effects on the system. Then, a real observer is established based on the proposed virtual observer, since the performance of virtual observers is limited due to the presence of unmeasurable information in the system. Based on the estimated information obtained by the observers, a robust fault-tolerant model predictive control is synthesized and used to control discrete-time systems subject to sensor and actuator faults, disturbances, and input constraints. Additionally, an optimized cost function is employed in the RFTPC design to guarantee robust stability as well as the rejection of bounded disturbances for the discrete-time system with sensor and actuator faults. Furthermore, a linear matrix inequality (LMI) approach is used to propose sufficient stability conditions that ensure and guarantee the robust stability of the whole closed-loop system composed of the states and the estimation error of the system dynamics. As a result, the entire control problem is formulated as an LMI problem, and the gains of both observer and robust fault-tolerant model predictive controller are obtained by solving the linear matrix inequalities (LMIs). Finally, the efficiency of the proposed RFTPC controller is tested by simulating a numerical example where the simulation results demonstrate the applicability of the proposed method in dealing with linear systems subject to faults in both actuators and sensors.

Active fault tolerant control of turbofan engines with actuator faults under disturbances

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Yan-Hua Ma ◽  
Xian Du ◽  
Lin-Feng Gou ◽  
Si-Xin Wen
Keyword(s):  
Active Fault ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Feedback Controller ◽  
Actuator Faults ◽  
Error Feedback ◽  
Turbofan Engine ◽  
Turbofan Engines ◽  
Interval Observer ◽  
State Error

AbstractIn this paper, an active fault-tolerant control (FTC) scheme for turbofan engines subject to simultaneous multiplicative and additive actuator faults under disturbances is proposed. First, a state error feedback controller is designed based on interval observer as the nominal controller in order to achieve the model reference rotary speed tracking control for the fault-free turbofan engine under disturbances. Subsequently, a virtual actuator based reconfiguration block is developed aiming at preserving the consistent performance in spite of the occurrence of the simultaneous multiplicative and additive actuator faults. Moreover, to improve the performance of the FTC system, the interval observer is slightly modified without reconstruction of the state error feedback controller. And a theoretical sufficiency criterion is provided to ensure the stability of the proposed active FTC system. Simulation results on a turbofan engine indicate that the proposed active FCT scheme is effective despite of the existence of actuator faults and disturbances.

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