Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

• Autorzy: Zhaohui Cen , Hassan Noura , Younes Al Younes
• Języki publikacji: EN

Abstrakty

EN

A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out to show the performance and effectiveness of the proposed method.

Słowa kluczowe

EN

systematic fault tolerant control; fault estimation; adaptive Thau observer; fault tolerant capacity boundaries; time-varying fault

• Wydawca: University of Zielona Gora Press
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2015
• Tom: 25
• Numer: 1
• Strony: 159-174

Daty

wydano

2015

otrzymano

2014-02-13

poprawiono

2014-07-01

Twórcy

autor

Zhaohui Cen

• Qatar Environment and Energy Research Institute, Member of the Qatar Foundation, Building CP4, Education City, Doha, 5825 Qatar

autor

Hassan Noura

• Department of Electrical Engineering United Arab Emirates University, PO Box 15551, Al Ain, UAE,

autor

Younes Al Younes

• Mechanical Engineering Department, Higher College of Technology, PO Box 17155, Al Ain, UAE
• Modeling, Information and System Lab, Control and Vehicle Group, University of Picardie Jules Verne, Chemin du Thil, 80000, Amiens, France

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Identyfikatory

DOI

10.1515/amcs-2015-0012