Faulttolerant control strategy for actuator faults using. Faulttolerant control for quadrotor uav via backstepping. Faulttolerant control aims at preventing component faults, component failures or subsystem faults from becoming system failures blanke et al. Faulttolerant control of an hexarotor unmanned aerial vehicle. A classification of fault diagnosis and fault tolerant control methods for manned and unmanned helicopters is presented in qi et al. Pdf adaptive neural faulttolerant control of a 3dof model. Fault diagnosis and fault tolerant control methods for manned and. This thesis addresses the topic of fault tolerant flight control system ftfcs design and focuses on its application to the bell205 helicopter. Injecting the fault in four motors uring in hovering control and the comparison of pid controller to gs pid. A more practical actuator fault is built, and the model of the system is presented.
To handle the helicopter system, an h robust fault tolerant state feedback control is proposed. Fault tolerant control in experimental mini helicopter. Model reference adaptive fault tolerant control of a. In this paper, a faulttolerant control of 2 dof helicopter trms system based on hinfinity is presented. Integrated faulttolerant control for a 3dof helicopter with. Vehicle fault tolerant control using a robust output fuzzy. Active faulttolerant control of unmanned quadrotor. An adaptive faulttolerant sliding mode control allocation scheme. In addition, an adaptive method is combined with faulttolerant h control to improve the flight performance. I observer is utilized to estimate the actuator fault which is unknown, and it is combined with a sliding mode controller to stabilize the attitude of the quadrotor. Flight testing of a faulttolerant control and visionbased obstacle avoidance system for uavs. Faulttolerant control strategy for actuator faults using lpv techniques. Pdf adaptive neural faulttolerant control of a 3dof. Fault tolerant trajectory tracking control of a quadrotor helicopter using gainscheduled pid and model reference adaptive control, annual conference of the prognostics and health management society, montreal, canada, vol.
Fault tolerant model predictive control of quadrotor. It is therefore necessary to test the controllability of the multirotors before any fault tolerant control strategies are employed. Fault tolerant control for a tilted rotor hexacopter youtube. L 1 adaptive control provides fast adaptation along with decoupling between adaptation and robustness. Faulttolerant control systems are characterized in this article.
Pdf robust fault tolerant control with sensor faults for. A pftcs is designed to be robust against a class of prescribed faults without requiring online fdd 11. In addition to loop restructuring, the controller parameters must be adjusted to accommodate changed. Pdf fault diagnosis and fault tolerant control methods. To handle the helicopter system, an h robust faulttolerant state feedback control is proposed. Pdf controllability analysis for multirotor helicopter. In this paper, a fault tolerant control ftc strategy for linear parameter varying lpv systems that can be used in the case of actuator faults is proposed. Practical methods for small unmanned aerial vehicles advances in industrial control.
Fdi actuator plant human interface controller sensor supervision fault fault fault reference input fig 1. Faulttolerant control strategy for actuator faults using lpv. In international micro air vehicle conference and flight competition. The faulttolerant avionics system ensures integrity ellis f. This example deals with faulttolerant flight control of passenger jet undergoing outages in the elevator and aileron actuators. Extended state observerbased sliding mode faulttolerant. Faulttolerant model predictive control of an unmanned quadrotor helicopter. The entire proposed faulttolerant control algorithm contains a baseline controller, the fault detection and isolation.
In addition, an adaptive method is combined with fault tolerant h control to improve the flight performance. Faulttolerant control of the quadrotor helicopter using. Active faulttolerant control is adopted in this paper as it can detect actuator fault. Faulttolerant control allocation for multirotor helicopters using parametric programming. The flight control system must maintain stability and meet performance and comfort requirements in both nominal operation and degraded conditions where some actuators are no longer effective due to control surface impairment. Mar 29, 2017 by adopting the linear parameter varying lpv control technique, this paper presents an active fault tolerant control ftc strategy with application to unmanned quadrotor helicopter uqh. Design and control of a passively morphing quadcopter. In particular, the introductory part of the paper presents a faulttolerant control ftc, the first part of this paper presents a description. In particular, the introductory part of the paper presents a faulttolerant control ftc, the first part of this paper presents a description of the mathematical model of trms, and the last. This paper considers the controllability analysis problem for a class of multirotor systems subject to rotor failurewear. Fault tolerant control of a quadrotor helicopter using. Practical methods for small unmanned aerial vehicles advances in industrial control ducard, guillaume j. Fault tolerant control systems are characterized in this article. This thesis addresses the topic of faulttolerant flight control system ftfcs design and focuses on its application to the bell205 helicopter.
Fault detection and fault tolerant control using sliding modes is the first text dedicated to showing the latest developments in the use of slidingmode concepts for fault detection and isolation fdi and fault tolerant control in dynamical engineering systems. Integrated faulttolerant control for a 3dof helicopter with actuator faults and saturation article pdf available in iet control theory and applications 1114 may 2017 with 194 reads. In this paper, the stabilization problem for the 3 degree of freedom 3dof hovering system of quadrotor with actuator faults is investigated. Active fault tolerant control of quadrotor helicopter. Nowadays, control methods mostly used for fault free operation of quadrotor uav are sliding mode control,3,4 sliding mode control mixed with backstepping,5,6 adaptive backstepping control,7 feedback linearization,4,8,9,10 backstepping,1115 pid and lq control techniques,16 lqr control design. Faulttolerant control ftc 5 has the potential to improve the safety and reliability of multirotor helicopters. Systematic fault tolerant control based on adaptive thau. Study on faulttolerant control scheme for a helicopter via.
Ieee conference on control and faulttolerant systems, nice, france, 68 october 2010, pp. Pdf faulttolerant control allocation for multirotor helicopters. The overall structure for generic fault tolerant control ftc can be represented by the following diagram we have developed ftfcs for helicopter using both schemes 3. Flight testing of a faulttolerant control and vision. Proceedings of the asme 2011 international design engineering technical conferences and computers and information in engineering conference.
However, mpc needs a relatively accurate model of the postfailure system to calculate a stabilizing control signal. This study proposes a fault estimation febased faulttolerant control ftc strategy to maintain system reliability and achieve desirable control performance for a 3dof helicopter system with both actuator drift and oscillation faults and saturation. An adaptive faulttolerant sliding mode control allocation. Patton1, xiaoyuan zhu2 1school of engineering and computer science, university of hull, cottingham road, hull hu6 7rx, uk 2merchant marine college, shanghai maritime university, 1550 haigang ave, shanghai 206, china r. Fault tolerant control applied to a quadrotor unmanned helicopter. In particular, the introductory part of the paper presents a fault tolerant control ftc, the first part of this paper presents a description.
The analysis results show that hexacopters with different rotor configurations have different fault tolerant capabilities. In general, faulttolerant control system ftcs can be classified into two types known as passive faulttolerant control system pftcs and active faulttolerant control system aftcs. Flight testing of a faulttolerant control and visionbased. A faulttolerant avionics system is a critical element of. In this paper, we consider the faulttolerant control problem for aerial vehicles with redundant actuators. This paper considers the control problem for an underactuated quadrotor uav system in presence of sensor faults. Passive and active nonlinear faulttolerant control of a. This study proposes a sliding mode fault tolerant control ftc scheme for the mediumscale unmanned autonomous helicopter with rotor flapping dynamics in the presence of wind gusts and actuator faults using extended state observer technique. Control reconfiguration is an active approach in control theory to achieve fault tolerant control for dynamic systems. Faulttolerant control with applications to aircraft using. In this context, a fault detection, isolation, and accommodation fdia system has been constructed using artificial neural networks anns and real flight test data ftd. Fault tolerant control applied to a quadrotor unmanned.
Fault tolerant model predictive control of quadrotor helicopters. The autonomous path planning app layer generates the motion plan for the overall mission, and com. 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. Active faulttolerant control for a quadrotor helicopter. The design operates in linear matrix inequality lmi. Owing to this, an easytouse measurement index is introduced to assess the available control authority. Faulttolerant capability is an important feature for safetycritical systems 3, such as uavs 4, spacecrafts 5, wind turbines 6, 7 etc. Model reference adaptive fault tolerant control of a quadrotor uav abbas chamseddine and youmin zhangy concordia university, montreal, quebec h3g 1m8, canada camillealain rabbathz defence research and development canada, valcartier, quebec g3j 1x5, canada cameron fulfordxand jacob apkarianquanser consulting inc.
Controllability analysis for multirotor helicopter rotor degradation. Faulttolerant trajectory tracking control of quadrotor helicopter using gainscheduled pid and model reference adaptive control. Faulttolerant flight control system design with application. This study proposes a fault estimation febased fault tolerant control ftc strategy to maintain system reliability and achieve desirable control performance for a 3dof helicopter system with both actuator drift and oscillation faults and saturation. By adopting the linear parameter varying lpv control technique, this paper presents an active faulttolerant control ftc strategy with application to unmanned quadrotor helicopter uqh. The problem becomes more critical where the system. Among various helicopters, singlerotor aerial vehicles, i.
Global faulttolerant control of underactuated aerial. It can thus serve as a suitable fault tolerant control approach for quadrotor helicopter governed by nonlinear dynamics. Fault tolerant trajectory tracking control of quadrotor helicopter using gainscheduled pid and model reference adaptive control. Fault tolerant control of a quadrotor helicopter using model. It is used when severe faults, such as actuator or sensor outages, cause a breakup of the control loop, which must be restructured to prevent failure at the system level. A faulttolerant approach to helicopter swashplate control. I observer to deal with the partial loss of actuators effectiveness associated with a quadrotor unmanned aerial vehicle. Fault tolerant control for quadrotor via backstepping approach. Fault tolerant control for a tilted rotor hexacopter. Concordia university, 2016 safety is one of the major concerns in the aviation community for both manned aircraft. Study on faulttolerant control scheme for a helicopter. Pdf faulttolerant flight control system design with.
Fault tolerant capability is an important feature for safetycritical systems 3, such as uavs 4, spacecrafts 5, wind turbines 6, 7 etc. It is shown that classical controllability theories of linear systems are not sufficient to test the controllability of the considered multirotors. This makes the approach a suitable candidate for fault tolerant control of quadrotor and other multirotor. Faulttolerant control of a 2 dof helicopter trms system.
Abstract in this paper, a fault tolerant control of 2 dof helicopter trms system based on h. In this paper, a fault tolerant control of 2 dof helicopter trms system based on hinfinity is presented. In general, fault tolerant control system ftcs can be classified into two types known as passive fault tolerant control system pftcs and active fault tolerant control system aftcs. Various approaches for fault tolerant control have been suggested in the literature blanke et al,2003,zhang et al,2003. Pdf faulttolerant control of a 2 dof helicopter trms system.
Fault tolerant tracking control for quadrotor helicopter via robust adaptive technique development of advanced fdd and ftc techniques with application to an unmanned quadrotor helicopter testbed journal of the franklin institute, vol. Jun 12, 2012 li, tong, zhang, youmin, and gordon, brandon. An adaptive thau observer for estimating the timevarying loe fault of quadrotor actuators, conference on control and faulttolerant systems systol, 20, nice, france, pp. Various approaches for faulttolerant control have been suggested in the literature blanke et al,2003,zhang et al,2003. Control reconfiguration is an active approach in control theory to achieve faulttolerant control for dynamic systems. However, such a work was based only on simulation due to the lack of a physical uav testbed at that time.
The controller was extended to add a retrot module for accommodation of lossofeffectiveness failure of ight control actuators. Abstract in this paper, a faulttolerant control of 2 dof helicopter trms system based on h. In this context, a fault detection, isolation, and accommodation fdia system has been constructed using artificial neural networks anns and. Fault detection and faulttolerant control using sliding modes is the first text dedicated to showing the latest developments in the use of slidingmode concepts for fault detection and isolation fdi and faulttolerant control in dynamical engineering systems. The entire proposed fault tolerant control algorithm contains a baseline controller, the fault detection and isolation.
Nowadays, control methods mostly used for faultfree operation of quadrotor uav are sliding mode control,3,4 sliding mode control mixed with backstepping,5,6 adaptive backstepping control,7 feedback linearization,4,8,9,10 backstepping,1115 pid and lq control techniques,16 lqr control design. Disturbance observerbased adaptive faulttolerant control. Zhangan adaptive fault tolerant sliding mode control allocation scheme for multirotor helicopter subject to simultaneous actuator faults ieee trans. The redundant actuator brings difficulty in fault identification and isolation. The effects of the faults and saturation are combined into a composite nondifferentiable actuator fault function, which is approximated by a.
The overall structure for generic faulttolerant control ftc can be represented by the following diagram we have developed ftfcs for helicopter using both schemes 3. Dynamic modelling of quadrotor while taking into account various physical phenomena, which can influence the dynamics of a flying. Faulttolerant trajectory tracking control of a quadrotor. In this paper, we consider the fault tolerant control problem for aerial vehicles with redundant actuators. Integrated faulttolerant control for a 3dof helicopter.
Download pdf fault detection and fault tolerant control. Jun 12, 2012 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. Annual conference of the prognostics and health management society 2011 phm2011, 2011, montreal, qc, canada. The term faulttolerant system fts will be used to denote a controlled system which can still serve its purpose in spite of the occurrence of faults, at least for some time. Abstract faulttolerant control with applications to aircraft using linear quadratic design framework bin yu, ph. Integrated faulttolerant control for a 3dof helicopter with actuator faults and saturation jianglin lan1, ron j. Pdf faulttolerant control of a 2 dof helicopter trms.
Adverse effects from payload grasping and dropping caused variations of system dynamics as well as battery drainage induced loss of actuator effectiveness are expected to be counteracted in this study. Active fault tolerant control is adopted in this paper as it can detect actuator fault. Robust fault tolerant control with sensor faults of quadrotor the choice of this metho d is not fortuitous considerin g the major advantages it prese nts. Sliding mode controller active fault tolerant control of quadrotor helicopter 1 1 7 5 5 10 0 5 10 15 20 0 0. Pdf in this paper, a faulttolerant control of 2 dof helicopter trms system based on hinfinity is presented. This study proposes a sliding mode faulttolerant control ftc scheme for the mediumscale unmanned autonomous helicopter with rotor flapping dynamics in the presence of wind gusts and actuator faults using extended state observer technique. Fault tolerant control of a quadrotor using l adaptive control. The adaptive recongurable control layer combines partial feedback linearization and sliding mode control with zero dynamics stabilization using outerloop lqr controller as shown in gure 2. Fault tolerant flight control techniques with application to a quadrotor uav testbed 6 willbesetbyintech the torques. Dynamic notch filtering control for faulttolerant actuators of flybywire helicopters fig. Here, the fault tolerant properties to faults in the actuators of an l 1 adaptive controller for a quadrotor vehicle are investigated. Zhangan adaptive faulttolerant sliding mode control allocation scheme for multirotor helicopter subject to simultaneous actuator faults ieee trans. From the application view point, flight control systems have represented the main area of research.
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