Fault tolerant flight control system for the tilt-rotor UAV

Abstract A fault tolerant control scheme for actuator and sensor faults is proposed for a tilt-rotor unmanned aerial vehicle (UAV) system. The tilt-rotor UAV has a vertically take-off and landing (VTOL) capability like a helicopter during the take-off & landing while it could cruise with a high speed as a conventional airplane flight mode. A dual system in the flight control computer (FCC) and the sensor is proposed in this study. To achieve a high reliability, a fault tolerant flight control system is required for the case of actuator or sensor fault. For the actuator fault, the fault tolerant control scheme based on model error control synthesis is presented. A designed fault tolerant control scheme does not require system identification process and it provides an effective reconfigurability without fault detection and isolation (FDI) process. For the sensor fault, the fault tolerant federated Kalman filter is designed for the tilt-rotor UAV system. An FDI algorithm is applied to the federated Kalman filter in order to improve the accuracy of the state estimation even when the sensor fails. For a linearized six-degree-of-freedom linear model and nonlinear model of the tilt-rotor UAV, numerical simulation and process-in-the-loop simulation (PILS) are performed to demonstrate the performance of the proposed fault tolerant control scheme.

[1]  John L. Crassidis,et al.  Predictive Filtering for Nonlinear Systems , 1996 .

[2]  Dan Simon,et al.  Optimal State Estimation: Kalman, H∞, and Nonlinear Approaches , 2006 .

[3]  John L. Crassidis,et al.  Robust aircraft longitudinal control using model-error control synthesis , 2006 .

[4]  David G. Ward,et al.  Retrofit FDI and Adaptive Outer-Loop Control for Inflight Failure Accommodation , 2005 .

[5]  Anthony J. Calise,et al.  Development of a Reconfigurable Flight Control Law for Tailless Aircraft , 2001 .

[6]  Frank L. Lewis,et al.  Aircraft Control and Simulation , 1992 .

[7]  John L. Crassidis,et al.  Predictive filtering for attitude estimation without rate sensors , 1997 .

[8]  Eung-Tai Kim,et al.  Autopilot design of tilt-rotor UAV using particle swarm optimization method , 2007, 2007 International Conference on Control, Automation and Systems.

[9]  A. Edelmayer,et al.  Federated filtering for fault tolerant estimation and sensor redundancy management in coupled dynamics distributed systems , 2007, 2007 Mediterranean Conference on Control & Automation.

[10]  Deok-Jin Lee,et al.  Unscented Information Filtering for Distributed Estimation and Multiple Sensor Fusion , 2008 .

[11]  Fang Jiancheng,et al.  Multisensor data synthesis using federated of unscented Kalman filtering , 2005, 2005 IEEE International Conference on Industrial Technology.

[12]  Youdan Kim,et al.  Reconfigurable Flight Control System Design Using Direct Adaptive Method , 2003 .

[13]  Marios M. Polycarpou,et al.  Sensor bias fault isolation in a class of nonlinear systems , 2005, IEEE Transactions on Automatic Control.

[14]  Y. Ochi,et al.  Design of restructurable flight control systems using feedback linearization , 1991 .

[15]  Rastko R. Selmic,et al.  Actuator fault detection in nonlinear uncertain systems using neural on-line approximation models , 2006, 2006 American Control Conference.

[16]  John L. Crassidis,et al.  LINEAR STABILITY ANALYSIS OF MODEL ERROR CONTROL SYNTHESIS , 2000 .

[17]  Dong-Ho Shin,et al.  Reconfigurable flight control system design using adaptive neural networks , 2004, IEEE Trans. Control. Syst. Technol..

[18]  Youdan Kim,et al.  Attitude Estimation for Satellite Fault Tolerant System Using Federated Unscented Kalman Filter , 2010 .

[19]  Keum-Shik Hong,et al.  Decentralized information filter in federated form , 2003, SICE 2003 Annual Conference (IEEE Cat. No.03TH8734).

[20]  Inseok Hwang,et al.  A Survey of Fault Detection, Isolation, and Reconfiguration Methods , 2010, IEEE Transactions on Control Systems Technology.

[21]  W. D. Morse,et al.  Model following reconfigurable flight control system for the AFTI/F-16 , 1990 .

[22]  P. J. Lawrence,et al.  Comparison of federated and centralized Kalman filters with fault detection considerations , 1994, Proceedings of 1994 IEEE Position, Location and Navigation Symposium - PLANS'94.

[23]  Rastko R. Selmic,et al.  Actuator fault detection in nonlinear uncertain systems using neural on-line approximation models , 2006 .

[24]  C. L. Philip Chen,et al.  Adaptive Sensor Fault Detection and Identification Using Particle Filter Algorithms , 2009, IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews).

[25]  Ping Lu,et al.  Nonlinear predictive controllers for continuous systems , 1994 .

[26]  Gaurav S. Sukhatme,et al.  Sensor fault detection and identification in a mobile robot , 1998, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190).

[27]  R. Walker,et al.  Sensor Fault Detection for UAVs using a Nonlinear Dynamic Model and the IMM-UKF Algorithm , 2007, 2007 Information, Decision and Control.