Switched fault tolerant control for a quadrotor UAV

Abstract This paper addresses the problem of loss of motor effectiveness for a quadrotor Unmanned Aerial Vehicle (UAV). In this paper, faults consist of time-varying actuator gain reductions. In the case of a fault affecting one actuator only, we show that the stability and the performance of the controlled system is maintained despite the fact that there is no fault detection mechanism involved in the design. The fault tolerant controller comprises of state feedback gains and a min-switch strategy which are jointly designed. Simulation results show that the switched fault tolerant control enables the quadrotor to track well the desired velocity commands in the presence of a time-varying fault. The responses are also compared to those produced with a robust H2 state-feedback gain.

[1]  Youmin Zhang,et al.  Fault Tolerant Control for Quadrotor via Backstepping Approach , 2010 .

[2]  Anuradha M. Annaswamy,et al.  Adaptive Control of Quadrotor UAVs: A Design Trade Study With Flight Evaluations , 2013, IEEE Transactions on Control Systems Technology.

[3]  Sauro Longhi,et al.  A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles , 2011 .

[4]  Raffaello D'Andrea,et al.  Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[5]  Patrizio Colaneri,et al.  Dynamic Output Feedback Control of Switched Linear Systems , 2008, IEEE Transactions on Automatic Control.

[6]  Kim-Chuan Toh,et al.  SDPT3 -- A Matlab Software Package for Semidefinite Programming , 1996 .

[7]  Hassan Noura,et al.  Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer , 2014, J. Intell. Robotic Syst..

[8]  Abdelhamid Tayebi,et al.  Attitude stabilization of a VTOL quadrotor aircraft , 2006, IEEE Transactions on Control Systems Technology.

[9]  Youmin Zhang,et al.  Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter , 2013, J. Intell. Robotic Syst..

[10]  Gang Tao,et al.  A Reconfiguration Scheme for Quadrotor Helicopter via Simple Adaptive Control and Quantum Logic , 2015, IEEE Transactions on Industrial Electronics.

[11]  Youmin Zhang,et al.  Active fault‐tolerant control system design with trajectory re‐planning against actuator faults and saturation: Application to a quadrotor unmanned aerial vehicle , 2015 .

[12]  Yuri B. Shtessel,et al.  Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer , 2012, J. Frankl. Inst..

[13]  Sauro Longhi,et al.  Flight control of a quadrotor vehicle subsequent to a rotor failure , 2014 .

[14]  G. S. Deaecto,et al.  H∞ Control for Continuous-Time Switched Linear Systems , 2010 .

[15]  Hassan Noura,et al.  Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory , 2015, Int. J. Appl. Math. Comput. Sci..

[16]  Frank L. Lewis,et al.  Dynamic inversion with zero-dynamics stabilisation for quadrotor control , 2009 .

[17]  Jamal Daafouz,et al.  Switched state-feedback control for continuous time-varying polytopic systems , 2011, Int. J. Control.