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2015 | 25 | 3 | 561-576
Tytuł artykułu

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA), a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques.
Rocznik
Tom
25
Numer
3
Strony
561-576
Opis fizyczny
Daty
wydano
2015
otrzymano
2014-04-21
poprawiono
2014-10-17
poprawiono
2015-02-14
Twórcy
  • LSIS Lab, Aix-Marseille University, Domaine Universitaire de Saint-Jérôme, Batiment Polytech, Avenue Escadrille Normandie-Niemen, 13397 Marseille, France
  • Electrical & Electronics Engineering (EEE) Department, Lebanese International University, Tripoli campus, Dahr el Ain Road, Al Haykalieh, Lebanon
autor
  • Electrical Engineering Department, United Arab Emirates University, P. O. Box 15551, Al Muwaiji, Al Ain, United Arab Emirates
  • French Air Force Academy, Base aérienne 701, Chemin de Saint Jean, 13661, Salon-de-Provence, France
Bibliografia
  • Adigbli, P. (2007). Nonlinear attitude and position control of a micro quadrotor using sliding mode and backstepping techniques, 3rd US/European Competition and Workshop on Micro Air Vehicle Systems (MAV07)/European Micro Air VehicleConference and Flight Competition (EMAV2007), Toulouse, France, pp. 1-9.
  • Bouabdallah, S. (2007). Design and Control of Quadrotors with Application to Autonomous Flying, Ph.D. thesis, Ecole Polytechnique Federale De Lausanne, Lausanne.
  • Bouadi, H., Bouchoucha, M. and Tadjine, M. (2007). Sliding mode control based on backstepping approach for an UAV type-quadrotor, International Journal of Applied Mathematics and Computer Sciences 4(1): 12-17.
  • Boudjedi, H., Yacef, F., Bouhali, O. and Rizoug, N. (2012). Dual neural network for adaptive sliding mode control of quadrotor helicopter stabilization, International Journal of Information Sciences and Techniques 2(4): 1-14.
  • Das, A., Lewis, F.L. and Subbarao, K. (2011). Sliding mode approach to control quadrotor using dynamic inversion, in A. Bartoszewicz (Ed.), Challenges and Paradigms in Applied Robust Control, InTech, Rijeka.
  • Edwards, C., Alwi, H. and Tan, C.P. (2012). Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems, International Journal of Applied Mathematics and Computer Science 22(1): 109-124, DOI: 10.2478/v10006-012-0008-7.
  • Fliess, M. and Join, C. (2013). Model free control, International Journal of Control 86(12): 2228-2252.
  • Fliess, M., Join, C. and Sira-Ramirez, H. (2008). Non-linear estimation is easy, International Journal of Modelling Identification and Control 4(1): 12-27.
  • Hao, L.-Y. and Yang, G. (2013). Robust fault tolerant control based on sliding mode method for uncertain linear systems with quantization, ISA Transactions 52(5): 600-610.
  • Jain, T., Yamé, J.J. and Sauter, D. (2012). Model-free reconfiguration mechanism for fault tolerance, International Journal of Applied Mathematics and Computer Science 22(1): 125-137, DOI: 10.2478/v10006-012-0009-6.
  • Li, T., Zhang, Y. and Gordon, B.W. (2012). Passive and active nonlinear fault-tolerant control of a quadrotor unmanned aerial vehicle based on the sliding mode control technique, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 227(1): 12-23.
  • Mahjoub, S., Mnif, F. and Derbel, N. (2011). Set point stabilization of a 2DOF underactuated manipulator, Journal of Computers 6(2): 368-376.
  • Mboup, M., Fliess, M. and Join, C. (2009). Numerical differentiation with annihilators in noisy environment, Numerical Algorithms 50(4): 439-467.
  • Merheb, A. and Noura, H. (2012). Novel bio-inspired stochastic tuning of a quadrotor PD controller, 2nd Annual Australian Control Conference (AUCC 2012), Sydney, Australia, pp. 227-232.
  • Merheb, A., Noura, H. and Bateman, F. (2013). Passive fault tolerant control of quadrotor uav using regular and cascaded sliding mode control, 2nd International Conference on Control and Fault-Tolerant Systems (SysTol'13), Nice, France, pp. 330-335.
  • Merheb, A., Noura, H. and Bateman, F. (2014). Active fault tolerant control of quadrotor uav using sliding mode control, 2014 International Conference on Unmanned Aircraft Systems (ICUAS14), Orlando, FL, USA, pp. 156-166.
  • Mnasri, C. and Gasmi, M. (2011). LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems, International Journal of Applied Mathematics and Computer Science 21(4): 605-615, DOI: 10.2478/v10006-011-0047-5.
  • Tang, Y. and Patton, R. (2012). Phase modulation of robust variable structure control for nonlinear aircraft, UKACC International Conference on Control (CONTROL 2012), Cardiff, UK.
  • Wu, J., Weng, Z., Tian, Z. and Shi, S. (2008). Fault tolerant control for uncertain time-delay systems based on sliding mode control, Kybernetika 44(5): 617-632.
  • Xu, D., Jiang, B. and Shi, P. (2012). Nonlinear actuator fault estimation observer: An inverse system approach via a T-S fuzzy model, International Journal of Applied Mathematics and Computer Science 22(1): 183-196, DOI: 10.2478/v10006-012-0014-9.
  • Yu, X., Wei, S. and Guo, L. (2010). Cascade sliding mode control for bicycle robot, International Conference on Artificial Intelligence and Computational Intelligence, Sanya, China, pp. 62-66.
  • Zhang, Y. and Chamseddine, A. (2012). Fault tolerant flight control techniques with application to a quadrotor UAV testbed, in D.T. Lombaerts (Ed.), Automatic Flight Control Systems-Latest Developments, InTech, Rijeka, pp. 119-150.
Typ dokumentu
Bibliografia
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Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv25i3p561bwm
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