Data-Driven Technique-Based Fault-Tolerant Control for Pitch and Yaw Motion in Unmanned Helicopters

This article proposes a fault-tolerant control (FTC) algorithm to monitor the anomalies and control them for unmanned helicopters. This overcomes the drawbacks due to heteroscedasticity and restrictions on the input variables in conventional FTCs and improves the training and testing efficiencies with enhanced control. This is achieved by adopting the support vector data descriptor (SVDD) to learn the operating states of the unmanned helicopter during normal and motor fault operations. Furthermore, a neural integrated fuzzy (NiF) controller is trained to cope up with the states classified by the developed classifier. To realize the development of the proposed control algorithm, the motor faults in the unmanned helicopter are developed by observing the pitch and yaw motor operation of unmanned helicopters. A two-class classification is developed using SVDD for identifying the motor faults and the NiF is trained for controlling the plant during the anomaly. The results depicted 98.6% training accuracy and 98.96% prediction accuracy along with efficient control when tested for a faulty condition on a helicopter test rig.

[1]  Vladimir Vapnik,et al.  An overview of statistical learning theory , 1999, IEEE Trans. Neural Networks.

[2]  F. Mora-Camino,et al.  Direct Adaptive Backstepping Flight Control for Quadcopter Trajectory Tracking , 2018, 2018 IEEE/AIAA 37th Digital Avionics Systems Conference (DASC).

[3]  Bernhard Schölkopf,et al.  The connection between regularization operators and support vector kernels , 1998, Neural Networks.

[4]  Bhanu Pratap,et al.  State observer based robust feedback linearization controller for twin rotor MIMO system , 2012, 2012 IEEE International Conference on Control Applications.

[5]  Najib Essounbouli,et al.  Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures. , 2018, ISA transactions.

[6]  Steven X. Ding,et al.  A Survey of Fault Diagnosis and Fault-Tolerant Techniques—Part II: Fault Diagnosis With Knowledge-Based and Hybrid/Active Approaches , 2015, IEEE Transactions on Industrial Electronics.

[7]  Yong Yan,et al.  A wavelet-based approach to abrupt fault detection and diagnosis of sensors , 2001, IEEE Trans. Instrum. Meas..

[8]  Yufei Xu,et al.  Fault Tolerant Control for a Class of Nonlinear Systems with Application to Near Space Vehicle , 2011, Circuits Syst. Signal Process..

[9]  Jian Pan,et al.  PID and LQR trajectory tracking control for an unmanned quadrotor helicopter: Experimental studies , 2016, 2016 35th Chinese Control Conference (CCC).

[10]  Yuhui Wang,et al.  Adaptive flight control for unmanned autonomous helicopter with external disturbance and actuator fault , 2019, The Journal of Engineering.

[11]  Massimiliano Mattei,et al.  UAV Sensor FDI in Duplex Attitude Estimation Architectures Using a Set-Based Approach , 2018, IEEE Transactions on Instrumentation and Measurement.

[12]  Bin Zhang,et al.  Application of Blind Deconvolution Denoising in Failure Prognosis , 2009, IEEE Transactions on Instrumentation and Measurement.

[13]  Gholamreza Vossoughi,et al.  Multivariable robust adaptive sliding mode control of an industrial boiler-turbine in the presence of modeling imprecisions and external disturbances: A comparison with type-I servo controller. , 2015, ISA transactions.

[14]  Andreas Zell,et al.  Towards Optimal Descriptor Subset Selection with Support Vector Machines in Classification and Regression , 2004 .

[15]  Minghui Wang,et al.  Multiple Classifiers Combination Model for Fault Diagnosis Using Within-class Decision Support , 2010, 2010 International Conference of Information Science and Management Engineering.

[16]  Jih-Gau Juang,et al.  PID Control Using Presearched Genetic Algorithms for a MIMO System , 2008, IEEE Trans. Syst. Man Cybern. Part C.

[17]  Abdullah Ates,et al.  Auto-tuning of PID controller according to fractional-order reference model approximation for DC rotor control , 2013 .

[18]  Mohammad Farrokhi,et al.  Robust adaptive fuzzy control of twin rotor MIMO system , 2013, Soft Comput..

[19]  Jyh-Shing Roger Jang,et al.  ANFIS: adaptive-network-based fuzzy inference system , 1993, IEEE Trans. Syst. Man Cybern..

[20]  Nan Li,et al.  Training support vector data descriptors using converging linear particle swarm optimization , 2012, Neural Computing and Applications.

[21]  David P. Morgan,et al.  Signal Processing and Feature Extraction , 1991 .

[22]  Harald Aschemann,et al.  Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter , 2015 .

[23]  Yaman Arkun,et al.  A general method to calculate input-output gains and the relative gain array for integrating processes , 1990 .

[24]  Wenjian Wang,et al.  Determination of the spread parameter in the Gaussian kernel for classification and regression , 2003, Neurocomputing.

[25]  Chitralekha Mahanta,et al.  Adaptive second-order sliding mode controller for a twin rotor multi-input-multi-output system , 2012 .

[26]  Ingrid Daubechies,et al.  The wavelet transform, time-frequency localization and signal analysis , 1990, IEEE Trans. Inf. Theory.

[27]  Hongmei Zhang,et al.  Fault Tolerant Control of Unmanned Aerial Vehicle Based on Adaptive Algorithm , 2019, 2019 International Conference on Smart Grid and Electrical Automation (ICSGEA).

[28]  Jovan D. Boskovic,et al.  A Decentralized Fault-Tolerant Control System for Accommodation of Failures in Higher-Order Flight Control Actuators , 2010, IEEE Transactions on Control Systems Technology.

[29]  Chin-Wang Tao,et al.  Design of a parallel distributed fuzzy LQR controller for the twin rotor multi-input multi-output system , 2010, Fuzzy Sets Syst..

[30]  Tianrui Li,et al.  Optimization-based model reference adaptive control for dynamic positioning of a fully actuated underwater vehicle , 2017 .

[31]  Surekha Kamath,et al.  Implementation of reliable H infinity observer-controller for TRMS with sensor and actuator failure , 2015, 2015 10th Asian Control Conference (ASCC).

[32]  Jih-Gau Juang,et al.  A hybrid intelligent controller for a twin rotor MIMO system and its hardware implementation. , 2011, ISA transactions.

[33]  Bin Jiang,et al.  Attitude Synchronization For Multiple 3-DOF Helicopters With Actuator Faults , 2019, IEEE/ASME Transactions on Mechatronics.

[34]  Surekha Kamath,et al.  Reliable H infinity observer-controller design for sensor and actuator failure in TRMS , 2014, 2014 International Conference on Advances in Electrical Engineering (ICAEE).