scholarly journals Incremental Sliding-Mode Fault-Tolerant Flight Control

2019 ◽  
Vol 42 (2) ◽  
pp. 244-259 ◽  
Author(s):  
Xuerui Wang ◽  
Erik-Jan van Kampen ◽  
Qiping Chu ◽  
Peng Lu
Keyword(s):  
Flight Control ◽  
Fault Tolerant ◽  
Sliding Mode

scholarly journals Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

2020 ◽  
Vol 10 (10) ◽  
pp. 3503 ◽  
Author(s):  
Yu-Hsuan Lien ◽  
Chao-Chung Peng ◽  
Yi-Hsuan Chen
Keyword(s):  
Fault Detection ◽  
Flight Control ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Adaptive Observer ◽  
Fault Estimation ◽  
Failure Conditions

This paper aims to propose a strategy for the flight control of quad-rotors under single rotor failure conditions. The proposed control strategy consists of two stages—fault detection (FD) and fault tolerant control (FTC). A dual observer-based strategy for FD and fault estimation is developed. With the combination of the results from both observers, the decision making in whether a fault actually happened or the observed anomaly was caused by an external disturbance could be distinguished. Following the FD result, a control strategy for normal flight, as well as the abnormal one, is presented. The FTC considers a real-time coordinate transformation scheme to manipulate the target angles for the quad-rotor to follow a prescribed trajectory. When a rotor fault happens, it is going to be detected by the dual observers and then the FTC is activated to stabilize the system such that the trajectory following task can still be fulfilled. Furthermore, in order to achieve robust flight in the presence of external wind perturbation, the sliding mode control (SMC) theory is further integrated. Simulations illustrate the effectiveness and feasibility of the proposed method.

Fault-tolerant nonlinear adaptive flight control using sliding mode online learning

2012 ◽  
Vol 32 ◽  
pp. 267-274 ◽  
Author(s):  
Thomas Krüger ◽  
Philipp Schnetter ◽  
Robin Placzek ◽  
Peter Vörsmann
Keyword(s):  
Online Learning ◽  
Flight Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Adaptive Flight Control

scholarly journals Study on Active Fault Tolerant Flight Control Systems for Quadrotor UAV with Actuator Failures

2018 ◽  
Vol 36 (4) ◽  
pp. 748-753 ◽  
Author(s):  
Xiaojun Xing ◽  
Xiaoran Chen ◽  
Longliang Huang ◽  
Dongsheng Fan
Keyword(s):  
Flight Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Digital Simulation ◽  
Flight Test ◽  
Rotor Blades ◽  
Integral Sliding Mode ◽  
Actuator Failures ◽  
Quadrotor Uav

The rotor blades' fatigue fracture of Quadrotor UAV easily causes the instability or even crash of the UAV due to high-load and long-endurance flight missions. Under this circumstances, an active fault-tolerant flight controller of Quadrotor UAV based on integral sliding mode is proposed to strengthen the fault-tolerant capability of UAV's attitude and position. First of all, nonlinear mathematical model of quadrotor UAV with actuator failures is derived by kinematics and dynamics analysis. Secondly, a fault observer is constructed to determine when the actuator failure will occur, subsequently the UAV's attitude and position flight controllers are compensated using integral sliding mode control. The digital simulation and flight test shows that the controller has powerful fault-tolerant capacity and preferable dynamic and static characteristics which can stabilize the attitude and position responses of UAV when partial failure of single blade occurs.

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