Adaptive Fault-Tolerant Tracking Control Against Actuator Faults With Application to Flight Control

2006 ◽  
Vol 14 (6) ◽  
pp. 1088-1096 ◽  
Author(s):  
D. Ye ◽  
G.-H. Yang
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Actuator 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 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.

scholarly journals Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Gang Chen ◽  
Qing Lin
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Fuzzy Logic Systems ◽  
External Disturbances ◽  
Communication Topology ◽  
Velocity Information ◽  
Cooperative Tracking

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.

scholarly journals Fault-Tolerant Tracking Control for A 3-DOF Helicopter with Actuator Faults and Saturation

2017 ◽  
Vol 50 (1) ◽  
pp. 5250-5255 ◽  
Author(s):  
Jianglin Lan ◽  
Ron J. Patton ◽  
Elisabetta Punta
Keyword(s):  
Tracking Control ◽  
Fault Tolerant ◽  
Actuator Faults
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