scholarly journals Fault-Tolerant Trajectory Tracking of Unmanned Aerial Vehicles Using Immunity-Based Model Reference Adaptive Control

2014 ◽  
Author(s):  
Brenton K. Wilburn
Keyword(s):  
Adaptive Control ◽  
Unmanned Aerial Vehicles ◽  
Trajectory Tracking ◽  
Fault Tolerant ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Aerial Vehicles ◽  
Model Reference Adaptive

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.

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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