A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm

François Bateman; Hassan Noura; Mustapha Ouladsine

doi:10.1109/CDC.2008.4738946

A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm

François Bateman, Hassan Noura, Mustapha Ouladsine

Department of Electrical and Communication Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

9 Citations (Scopus)

Abstract

In this paper a Fault Tolerant Control strategy for the nonlinear model of an unmanned aerial vehicle (UAV) equipped with numerous redundant controls is proposed. Asymmetric actuator failures are considered and, in order to accommodate them, a Sequential Quadratic Programming (SQP) algorithm which takes into account nonlinearities, aerodynamic and gyroscopic couplings, state and control limitations is implemented. This algorithm computes new trims such that around the new operating point, the faulty linearized model remains nearby from the fault free model. For the faulty linearized models, linear state feedback controllers based on an eigenstructure assignment method are designed to obtain soft transients during accommodation. Real time implementation of the SQP algorithm is also discussed.

Original language	English
Title of host publication	Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	423-428
Number of pages	6
ISBN (Print)	9781424431243
DOIs	https://doi.org/10.1109/CDC.2008.4738946
Publication status	Published - 2008
Event	47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico Duration: Dec 9 2008 → Dec 11 2008

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	47th IEEE Conference on Decision and Control, CDC 2008
Country/Territory	Mexico
City	Cancun
Period	12/9/08 → 12/11/08

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2008.4738946

Cite this

Bateman, F., Noura, H., & Ouladsine, M. (2008). A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 423-428). Article 4738946 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2008.4738946

A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm. / Bateman, François; Noura, Hassan; Ouladsine, Mustapha.
Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. p. 423-428 4738946 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bateman, F, Noura, H & Ouladsine, M 2008, A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm. in Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008., 4738946, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 423-428, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 12/9/08. https://doi.org/10.1109/CDC.2008.4738946

Bateman F, Noura H, Ouladsine M. A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc. 2008. p. 423-428. 4738946. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2008.4738946

Bateman, François ; Noura, Hassan ; Ouladsine, Mustapha. / A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm. Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. pp. 423-428 (Proceedings of the IEEE Conference on Decision and Control).

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A Fault Tolerant Control strategy for an unmanned aerial vehicle based on a Sequential Quadratic Programming algorithm

Abstract

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