A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs

Zhaohui Cen, Hassan Noura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper proposed a novel composite Fault Tolerant Control (FTC) approach based on fault estimation for quadrotor actuator fault. Firstly, an Adaptive Thau Observer is used to estimate the actuator fault magnitudes, and then faults with different time-varying natures are classified into corresponding fault severity levels based on the predefined fault-tolerant bounds. Secondly, a composite FTC strategy including passive and active FTC is designed to compensate fault for different fault severity levels. Unlike former single passive and active FTC, our proposed FTC can compensate fault in a way of Condition-Based Maintenance (CBM) and is more suitable for complex and time-varying fault, which is general in practice. Finally, Different simulations have been carried out to show the performance and effectiveness of the proposed method.

Original languageEnglish
Title of host publicationProceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Pages236-241
Number of pages6
DOIs
Publication statusPublished - 19 Aug 2013
Externally publishedYes
Event2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013 - Melbourne, VIC, Australia
Duration: 19 Jun 201321 Jun 2013

Other

Other2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
CountryAustralia
CityMelbourne, VIC
Period19/6/1321/6/13

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Keywords

  • Composite Fault Tolerant Control
  • Fault Estimation
  • Fault Tolerant Capacity Bond
  • Time-Varying fault

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Cen, Z., & Noura, H. (2013). A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs. In Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013 (pp. 236-241). [6566373] https://doi.org/10.1109/ICIEA.2013.6566373