TY - GEN
T1 - A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs
AU - Zhaohui, Cen
AU - Noura, Hassan
PY - 2013/8/19
Y1 - 2013/8/19
N2 - This paper proposed a novel composite Fault Tolerant Control (FTC) approach based on fault estimation for quadrotor actuator fault. Firstly, an Adaptive Thau Observer is used to estimate the actuator fault magnitudes, and then faults with different time-varying natures are classified into corresponding fault severity levels based on the predefined fault-tolerant bounds. Secondly, a composite FTC strategy including passive and active FTC is designed to compensate fault for different fault severity levels. Unlike former single passive and active FTC, our proposed FTC can compensate fault in a way of Condition-Based Maintenance (CBM) and is more suitable for complex and time-varying fault, which is general in practice. Finally, Different simulations have been carried out to show the performance and effectiveness of the proposed method.
AB - This paper proposed a novel composite Fault Tolerant Control (FTC) approach based on fault estimation for quadrotor actuator fault. Firstly, an Adaptive Thau Observer is used to estimate the actuator fault magnitudes, and then faults with different time-varying natures are classified into corresponding fault severity levels based on the predefined fault-tolerant bounds. Secondly, a composite FTC strategy including passive and active FTC is designed to compensate fault for different fault severity levels. Unlike former single passive and active FTC, our proposed FTC can compensate fault in a way of Condition-Based Maintenance (CBM) and is more suitable for complex and time-varying fault, which is general in practice. Finally, Different simulations have been carried out to show the performance and effectiveness of the proposed method.
KW - Composite Fault Tolerant Control
KW - Fault Estimation
KW - Fault Tolerant Capacity Bond
KW - Time-Varying fault
UR - http://www.scopus.com/inward/record.url?scp=84881454680&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84881454680&partnerID=8YFLogxK
U2 - 10.1109/ICIEA.2013.6566373
DO - 10.1109/ICIEA.2013.6566373
M3 - Conference contribution
AN - SCOPUS:84881454680
SN - 9781467363211
T3 - Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
SP - 236
EP - 241
BT - Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
T2 - 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Y2 - 19 June 2013 through 21 June 2013
ER -