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Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Author

Listed:
  • Ngoc Phi Nguyen

    (Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea)

  • Sung Kyung Hong

    (Faculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 143-747(05006), Korea)

Abstract

Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.

Suggested Citation

  • Ngoc Phi Nguyen & Sung Kyung Hong, 2019. "Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator," Energies, MDPI, vol. 12(6), pages 1-22, March.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:6:p:1139-:d:216655
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    References listed on IDEAS

    as
    1. Zhenhua Wang & Yi Shen & Xiaolei Zhang, 2014. "Actuator fault estimation for a class of nonlinear descriptor systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(3), pages 487-496.
    2. Ngoc Phi Nguyen & Sung Kyung Hong, 2018. "Fault-Tolerant Control of Quadcopter UAVs Using Robust Adaptive Sliding Mode Approach," Energies, MDPI, vol. 12(1), pages 1-15, December.
    3. Qinglei Hu & Bing Xiao, 2013. "Adaptive fault tolerant control using integral sliding mode strategy with application to flexible spacecraft," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(12), pages 2273-2286.
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    Cited by:

    1. Tuong Le & Minh Thanh Vo & Bay Vo & Mi Young Lee & Sung Wook Baik, 2019. "A Hybrid Approach Using Oversampling Technique and Cost-Sensitive Learning for Bankruptcy Prediction," Complexity, Hindawi, vol. 2019, pages 1-12, August.

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