Open Access Open Access  Restricted Access Subscription Access

Active Fault Tolerant Control of Octorotor UAV using Dynamic Control Allocation

Abdel Razzak Merheb, Hassan Noura, Francois Bateman

Abstract


In this paper, an active fault tolerant control scheme based on Dynamic Control Allocation method for Octorotor UAVs is developed. A Sliding Mode Observer is used to detect online any fault or failure affecting the UAV during flight. Whenever a fault or a total failure of a rotor is detected, the gain vector of the dynamic control allocator is updated resulting in the redistribution of the control effort. The infected actuator has then the least effect on the overall control vector. The new method was able to compensate for the effect of multiple severe faults while taking into account actuator and time constraints.

Full Text:

PDF

References


O. Harkegard, “Dynamic control allocation using constrained quadratic

programming,” in AIAA Guidance, Navigation, and Control Conference, Monterey, California, August 2002.

Y. Choi and H. Bang, “Dynamic control allocation for shaping spacecraft attitude control commands,” KSAS International Journal, vol. 8, no. 1, pp. 10 – 20, 2007.

A. Marks, J. Whidborne, and I. Yamamoto, “Control allocation for fault tolerant control of a vtol octorotor,” in UKACC International Conference on Control, ardiff, UK, September 2012.

L. Basson, Control allocation as part of a fault-tolerant control architecture for UAVs, Master thesis, Department of Electrical and Electronic Engineering, Stellenbosch University, Stellenbosch, South Africa, March 2011.

Y. Abdallah and E. Hemerly, “A fault tolerant flight control system using dynamic inversion with control allocation,” in 21st Brazilian Congress of Mechanical Engineering, Natal, Brazil, October 2011.

Y. Zhang, C. Rabbath, and C.-Y. Su, “Reconfigurable control allocation

applied to an aircraft benchmark model,” in American Control Conference, Seattle, WA, USA, June 2008.

Q. Zhou, Y. Zhang, C. Rabbath, and D. Theilliol, “Reconfigurable control allocation technology using weighted least squares for nonlinear system in unmanned aerial vehicle,” in 48th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition, Orlando, Florida, USA, January 2010.

M. Hamayun, C. Edwards, and H. Alwi, “Fault tolerant longitudinalaxis

control of a civil aircraft using control allocation,” in Proceedings of International Bhurban Conference on Applied Sciences and Technology, Islamabad, Pakistan, January 2011.

Y. Zhang and J. Jiang, “Integrated design of reconfigurable faulttolerant

control systems,” Journal of guidance : Engineering Notes, vol. 24, no. 1, pp. 133 – 136, 2000.

V. Adir and A. Stoica, “Integral lqr control of a star-shaped octorotor,”

INCAS BULLETIN, vol. 4, no. 2, pp. 3 – 18, 2012.

A. Merheb, H. Noura, and F. Bateman, “Passive fault tolerant control

of quadrotor uav using regular and cascaded sliding mode control,” in

The second International Conference on Control and Fault-Tolerant Systems (SysTol13), Nice, France, October 2013.

——, “Active fault tolerant control of quadrotor uav using sliding mode control,” in 2014 International Conference on Unmanned Aircraft Systems (ICUAS14), Orlando, FL, USA, May 2014.




DOI: http://dx.doi.org/10.21535%2FProICIUS.2014.v10.255

Refbacks

  • There are currently no refbacks.