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

Zhaohui Cen, Hassan Noura, Younes Al Younes

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)159-174
Number of pages16
JournalInternational Journal of Applied Mathematics and Computer Science
Volume25
Issue number1
DOIs
Publication statusPublished - 1 Mar 2015

Fingerprint

Adaptive Observer
Fault-tolerant Control
Unmanned aerial vehicles (UAV)
Fault
Passive Control
Active Control
Condition-based Maintenance
Parking
Fault-tolerant
Rotor
Control Strategy
Actuator
Time-varying
Integrate
Actuators
Rotors

Keywords

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

ASJC Scopus subject areas

  • Applied Mathematics
  • Computer Science (miscellaneous)
  • Engineering (miscellaneous)

Cite this

Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs. / Cen, Zhaohui; Noura, Hassan; Younes, Younes Al.

In: International Journal of Applied Mathematics and Computer Science, Vol. 25, No. 1, 01.03.2015, p. 159-174.

Research output: Contribution to journalArticle

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