Fault Tolerant Control of a Quadrotor Helicopter Using Model Reference Adaptive Control

2011 ◽  
Author(s):  
Iman Sadeghzadeh ◽  
Ankit Mehta ◽  
Youmin Zhang
Keyword(s):  
Adaptive Control ◽  
Fault Tolerant ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Model Reference Adaptive Control ◽  
Linear Quadratic ◽  
Physical Damage ◽  
Model Reference ◽  
Quadrotor Helicopter ◽  
Model Reference Adaptive

This paper proposes a useful approach to Fault Tolerant Control (FTC) based on the Model Reference Adaptive Control (MRAC) technique with application to a quadrotor helicopter Unmanned Aerial Vehicle (UAV) in hovering as well as trajectory tracking flight in order to control and keep the desired height and trajectory of the quadrotor helicopter in both normal conditions and in the presence of faults in one or more actuators. A Linear Quadratic Regulator (LQR) controller is used in cooperation with the MRAC to control the pitch and roll attitude of the helicopter. Three cases of fault are considered: 1) simulated fault in all the four actuators; 2) simulated fault in back and right motors; 3) a physical damage of 23% of one of the four propellers during autonomous flight. It can be seen from the test results that under the faulty and damage conditions MRAC controller provided a good response of the quadrotor UAV and result in safe landings of the quadrotor.

scholarly journals MODEL REFERENCE ADAPTIVE CONTROL-BASED GENETIC ALGORITHM DESIGN FOR HEADING SHIP MOTION

2020 ◽  
Vol 60 (3) ◽  
pp. 197-205
Author(s):  
Nasir Ahmad Al-Awad
Keyword(s):  
Adaptive Control ◽  
Algorithm Design ◽  
Linear Quadratic Regulator ◽  
Model Reference Adaptive Control ◽  
Linear Quadratic ◽  
Model Reference ◽  
Heading Control ◽  
Nomoto Model ◽  
Model Reference Adaptive ◽  
The Waves

In this paper, the heading control of a large ship is enhanced with a specific end goal, to check the unwanted impact of the waves on the actuator framework. The Nomoto model is investigated to describe the ship’s guiding progression. First and second order models are considered here. The viability of the models is examined based on the principal properties of the Nomoto model. Different controllers are proposed, these are Proportional Integral Derivative (PID), Linear Quadratic Regulator (LQR) and Model Reference Adaptive Control Genetic optimization Algorithm (MRAC-GA) for a ship heading control. The results show that the MRAC-GA controller provides the best results to satisfy the design requirements. The Matlab/Simulink tool is utilized to demonstrate the proposed arrangement in the control loop.

Adaptive Actuator Failure and Structural Damage Compensation of NASA Generic Transport Model

2014 ◽  
Vol 136 (3) ◽  
Author(s):  
Jiaxing Guo ◽  
Gang Tao ◽  
Yu Liu
Keyword(s):  
Adaptive Control ◽  
Structural Damage ◽  
Transport Model ◽  
Fault Tolerant ◽  
Model Reference Adaptive Control ◽  
Multivariable Model ◽  
Model Reference ◽  
Actuator Failures ◽  
Aircraft Systems ◽  
Model Reference Adaptive

This paper studies design and evaluation of a multivariable model reference adaptive control (MRAC) scheme for aircraft systems under simultaneous actuator failures and structural damage. A key design condition–system infinite zero structure is investigated for nominal and posthazard aircraft systems and the invariance of this essential condition is concluded under realistic failure and damage conditions. The multivariable model reference adaptive control scheme is developed to ensure stability and asymptotic output tracking for the aircraft in the presence of uncertain actuator failures and structural damage. The developed fault-tolerant control design is evaluated by a high-fidelity nonlinear aircraft model–the NASA generic transport model.

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