Two Reconfigurable Control Allocation Schemes for Unmanned Aerial Vehicle under Stuck Actuator Failures

2010 ◽  
Author(s):  
Qing-Li Zhou ◽  
Youmin Zhang ◽  
Camille-Alain Rabbath ◽  
Jacob Apkarian
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Control Allocation ◽  
Reconfigurable Control ◽  
Actuator Failures ◽  
Aerial Vehicle

scholarly journals Sliding Mode Fault Tolerant Control for Unmanned Aerial Vehicle with Sensor and Actuator Faults

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 643 ◽  
Author(s):  
Juan Tan ◽  
Yonghua Fan ◽  
Pengpeng Yan ◽  
Chun Wang ◽  
Hao Feng
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Health Management ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Control Process ◽  
Fault Tolerant Control ◽  
Accelerometer Sensor ◽  
Actuator Failures ◽  
Aerial Vehicle ◽  
Gyroscope Sensor

The unmanned aerial vehicle (UAV) has been developing rapidly recently, and the safety and the reliability of the UAV are significant to the mission execution and the life of UAV. Sensor and actuator failures of a UAV are one of the most common malfunctions, threating the safety and life of the UAV. Fault-tolerant control technology is an effective method to improve the reliability and safety of UAV, which also contributes to vehicle health management (VHM). This paper deals with the sliding mode fault-tolerant control of the UAV, considering the failures of sensor and actuator. Firstly, a terminal sliding surface is designed to ensure the state of the system on the sliding mode surface throughout the control process based on the simplified coupling dynamic model. Then, the sliding mode control (SMC) method combined with the RBF neural network algorithm is used to design the parameters of the sliding mode controller, and with this, the efficiency of the design process is improved and system chattering is minimized. Finally, the Simulink simulations are carried out using a fault tolerance controller under the conditions where accelerometer sensor, gyroscope sensor or actuator failures is assumed. The results show that the proposed control strategy is quite an effective method for the control of UAVs with accelerometer sensor, gyroscope sensor or actuator failures.

scholarly journals Control and flight test of a tilt-rotor unmanned aerial vehicle

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141667814 ◽  
Author(s):  
Chao Chen ◽  
Jiyang Zhang ◽  
Daibing Zhang ◽  
Lincheng Shen
Keyword(s):  
Unmanned Aerial Vehicle ◽  
High Speed ◽  
Cross Coupling ◽  
Flight Test ◽  
Control Allocation ◽  
Tilt Rotor ◽  
Satisfactory Performance ◽  
Allocation Method ◽  
Aerial Vehicle ◽  
The Cost

Tilt-rotor unmanned aerial vehicles have attracted increasing attention due to their ability to perform vertical take-off and landing and their high-speed cruising abilities, thereby presenting broad application prospects. Considering portability and applications in tasks characterized by constrained or small scope areas, this article presents a compact tricopter configuration tilt-rotor unmanned aerial vehicle with full modes of flight from the rotor mode to the fixed-wing mode and vice versa. The unique multiple modes make the tilt-rotor unmanned aerial vehicle a multi-input multi-output, non-affine, multi-channel cross coupling, and nonlinear system. Considering these characteristics, a control allocation method is designed to make the controller adaptive to the full modes of flight. To reduce the cost, the accurate dynamic model of the tilt-rotor unmanned aerial vehicle is not obtained, so a full-mode flight strategy is designed in view of this situation. An autonomous flight test was conducted, and the results indicate the satisfactory performance of the control allocation method and flight strategy.

scholarly journals Fault tolerant control of uav with wing layout based on control allocation

2021 ◽  
Vol 233 ◽  
pp. 04008
Author(s):  
Chen Jie ◽  
LIN Jianxin
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Control Allocation ◽  
Longitudinal Motion ◽  
Actuator Failure ◽  
Simulink Simulation ◽  
Control Command ◽  
Aerial Vehicle

As the flying wing layout unmanned aerial vehicle (uav) extensive research and task environment increasingly complex, Yu Feiyi layout unmanned aerial vehicle (uav) for fault tolerant control gradually become the main technical means of the flight control, using the established mathematical model of the flying wing uav longitudinal layout setting the actuator failure effect, is in the nature of adaptive control allocation fault-tolerant algorithm is given, and MATLAB/simulink simulation is carried out for uav longitudinal motion, realize the rapid and stable, the control command and response to complete the nonlinear fault-tolerant control of flying wing uavs.

L1 adaptive dynamic inversion attitude control for unmanned aerial vehicle with actuator failures

2018 ◽  
Vol 233 (11) ◽  
pp. 4129-4140
Author(s):  
Yan Zhou ◽  
Huiying Liu ◽  
Huijuan Guo ◽  
Xiaojun Duan
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Attitude Control ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Dynamic Inversion ◽  
Actuator Faults ◽  
Actuator Failures ◽  
Control Scheme ◽  
Aerial Vehicle ◽  
L1 Adaptive Controller

This paper presents a hybrid attitude control scheme of L1 adaptive and dynamic inversion for unmanned aerial vehicle with actuator faults, where both gain fault and bias fault are considered. Firstly, dynamic inversion is employed to track attitude angles in the outer loop and ensures the rapid response. Secondly, an L1 adaptive controller for the inner loop is established to compensate for system uncertainty and uncertainty caused by actuator failures. Thirdly, the analysis of steady-state and transient performance is given by Lyapunov theory. Finally, simulation results prove the effectiveness of the proposed approach.

Study on Fault Diagnosis of Planetary Gearbox in Unmanned Aerial Vehicle Using Multi sensor Data

2020 ◽  
Vol 20 (4) ◽  
pp. 332-342
Author(s):  
Hyung Jun Park ◽  
Seong Hee Cho ◽  
Kyung-Hwan Jang ◽  
Jin-Woon Seol ◽  
Byung-Gi Kwon ◽  
...  
Keyword(s):  
Fault Diagnosis ◽  
Unmanned Aerial Vehicle ◽  
Sensor Data ◽  
Planetary Gearbox ◽  
Aerial Vehicle

Results of Spatial Structure of Atmosphere Radiation in a Spectral Range (1.5–2) µm Research

2018 ◽  
pp. 7-13
Author(s):  
Anton M. Mishchenko ◽  
Sergei S. Rachkovsky ◽  
Vladimir A. Smolin ◽  
Igor V . Yakimenko
Keyword(s):  
Spatial Structure ◽  
Unmanned Aerial Vehicle ◽  
Wavelength Range ◽  
Spectral Range ◽  
Near Ir ◽  
Optoelectronic Systems ◽  
Aerial Vehicle

Results of experimental studying radiation spatial structure of atmosphere background nonuniformities and of an unmanned aerial vehicle being the detection object are presented. The question on a possibility of its detection using optoelectronic systems against the background of a cloudy field in the near IR wavelength range is also considered.

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