A composite Fault Tolerant Control based on fault estimation for quadrotor UAVs

Cen Zhaohui, Hassan Noura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Pages236-241
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013 - Melbourne, VIC, Australia
Duration: Jun 19 2013Jun 21 2013

Publication series

NameProceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013

Other

Other2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013
Country/TerritoryAustralia
CityMelbourne, VIC
Period6/19/136/21/13

Keywords

  • Composite Fault Tolerant Control
  • Fault Estimation
  • Fault Tolerant Capacity Bond
  • Time-Varying fault

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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