scholarly journals Fault-tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach

Energies ◽  
2018 ◽  
Vol 12 (1) ◽  
pp. 95 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Adaptive Sliding Mode ◽  
System Uncertainties ◽  
Robust Adaptive

In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actuators. A normal adaptive sliding mode control (NASMC) approach is proposed as a baseline controller to handle the chattering problem and system uncertainties, which does not require information of the upper bound. To improve the performance of the NASMC scheme, radial basis function neural networks are combined with an adaptive scheme to make a quick compensation in presence of system uncertainties and actuator faults. The Lyapunov theory is applied to verify the stability of the proposed methods. The effectiveness of modified ASMC algorithm is compared with that of NASMC using numerical examples under different faulty conditions.

scholarly journals Robust Adaptive Sliding Mode Fault Tolerant Control for Nonlinear System with Actuator Fault and External Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Zheng ◽  
Xuelian Dong ◽  
Qian Luo ◽  
Menglan Zeng ◽  
Xinping Yang ◽  
...  
Keyword(s):  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
External Disturbance ◽  
Fault Tolerant Control ◽  
Actuator Fault ◽  
Estimation Errors ◽  
Adaptive Sliding Mode ◽  
Sliding Motion ◽  
Robust Adaptive

In this paper, an adaptive sliding mode fault tolerant control (ASMFTC) approach is proposed for a class of nonlinear systems with actuator fault, uncertainty, and external disturbance. Specifically, first, a novel observer is proposed to estimate the state, actuator fault, and external disturbance. Then, by utilising the observed information, a novel output sliding mode observer is constructed. In the control method, an adaptive law and two compensators are designed to attenuate the unknown estimation errors, actuator fault, and disturbance. Furthermore, the reaching ability of the sliding motion is analysed and the H-infinite performance is introduced to ensure the robustness of the system. Finally, a flexible single joint manipulator system and a two-cart system are used to verify the effectiveness of the proposed method.

scholarly journals Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Energies ◽  
2019 ◽  
Vol 12 (6) ◽  
pp. 1139 ◽  
Author(s):  
Ngoc Nguyen ◽  
Sung Hong
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Total Loss ◽  
Actuator Faults ◽  
Control Scheme ◽  
Robust Adaptive

Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.

scholarly journals An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983243 ◽  
Author(s):  
Fatima Ejaz ◽  
Mirza Tariq Hamayun ◽  
Shariq Hussain ◽  
Salman Ijaz ◽  
Shunkun Yang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Control Approach ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

In this article, an adaptive sliding mode control is used in the framework of fault tolerant control to mitigate the effects of actuator faults without requiring the actuator health information. Since unmanned aerial vehicles are being used in multiple fields such as military, surveillance, media, agriculture, communication and trading sector, therefore it is of vital importance to overcome the effects of actuator faults that can decline system performance and can even lead to some serious accidents. The proposed adaptive sliding mode control approach can handle actuator faults directly without requiring any faults information and adaptively adjusts controller gains to maintain acceptable level of performance. To validate the effectiveness of the proposed adaptive fault tolerant control scheme, it has been tested in simulations using non-linear Benchmark model of Octorotor system and its performance is compared with the optimal LQR control approach.

Adaptive Sliding Mode Fault-Tolerant Control for an Unmanned Aerial Vehicle

2017 ◽  
Vol 05 (04) ◽  
pp. 209-221 ◽  
Author(s):  
Ban Wang ◽  
Youmin Zhang
Keyword(s):  
System Performance ◽  
Control Method ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Actuator Faults ◽  
Control Effort ◽  
Discontinuous Control ◽  
Control Effectiveness ◽  
System Uncertainties ◽  
Chattering Effect

Sliding mode control (SMC) is known as a robust control method to maintain system performance and keep it insensitive to system uncertainties. To achieve this objective, the knowledge of the uncertainty bound is usually needed, but sometimes it could be a hard task. Hence, the adaptive technology is introduced to be synthesized with SMC. In this paper, a novel adaptive SMC (ASMC) scheme is proposed to accommodate system uncertainties caused by actuator faults. An integral sliding mode controller is used as the baseline controller. When actuator faults occur, there is no need to know the exact bound of the uncertainties in control effectiveness matrix. The post-fault control effectiveness matrix can be estimated by the proposed adaptive control scheme, and the control inputs will be changed accordingly. In such a way, the robustness of the controller to actuator faults is improved. With the help of adaptive change of both continuous and discontinuous control parts, a minimum value of the discontinuous control gain can be guaranteed. In this case, the resulting control effort is reduced accordingly to avoid control chattering effect. Owing to the minimized control effort to accommodate uncertainties compared to the conventional SMC, the proposed ASMC can still maintain the system performance when severer faults occur. The effectiveness of the developed algorithm is demonstrated by the simulation results based on an unmanned quadrotor helicopter under various faulty conditions.

scholarly journals Active Fault-Tolerant Control of a Quadcopter against Time-Varying Actuator Faults and Saturations Using Sliding Mode Backstepping Approach

2019 ◽  
Vol 9 (19) ◽  
pp. 4010 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Sung Kyung Hong
Keyword(s):  
Fault Diagnosis ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Fault Estimation ◽  
Time Varying ◽  
Actuator Faults ◽  
Active Fault Tolerant Control

Fault-tolerant control is becoming an interesting topic because of its reliability and safety. This paper reports an active fault-tolerant control method for a quadcopter unmanned aerial vehicle (UAV) to handle actuator faults, disturbances, and input constraints. A robust fault diagnosis based on the H ∞ scheme was designed to estimate the magnitude of a time-varying fault in the presence of disturbances with unknown upper bounds. Once the fault estimation was complete, a fault-tolerant control scheme was proposed for the attitude system, using adaptive sliding mode backstepping control to accommodate the actuator faults, despite actuator saturation limitation and disturbances. The Lyapunov theory was applied to prove the robustness and stability of the closed-loop system under faulty operation. Simulation results show the effectiveness of the fault diagnosis scheme and proposed controller for handling actuator faults.

scholarly journals Robust Adaptive Fault-Tolerant Control of Stochastic Systems with Modeling Uncertainties and Actuator Failures

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Wenchuan Cai ◽  
Lingling Fan ◽  
Yongduan Song
Keyword(s):  
Stochastic Systems ◽  
Control Method ◽  
Fault Tolerant ◽  
Negative Impact ◽  
Fault Tolerant Control ◽  
Fault Detection And Diagnosis ◽  
Lyapunov Theory ◽  
Actuator Failures ◽  
Modeling Uncertainties ◽  
Robust Adaptive

This paper deals with the problem of fault-tolerant control (FTC) of uncertain stochastic systems subject to modeling uncertainties and actuator failures. A robust adaptive fault-tolerant controller design method based on stochastic Lyapunov theory is developed to accommodate the negative impact on system performance arising from uncertain system parameters and external disturbances as well as actuation faults. There is no need for on-line fault detection and diagnosis (FDD) unit in the proposed FTC scheme, which not only simplifies the design process but also makes the implementation inexpensive. Numerical examples are provided to validate and illustrate the benefits of the proposed control method.

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