A novel emergency controller for quadrotor UAVs

Abdel Razzak Merheb, Hassan Noura, Francois Bateman

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

10 Citations (Scopus)

Abstract

In this paper, an emergency controller is developed for AscTec Pelican quadrotor suffering a severe failure in one of its motors or rotors. With one of its motors badly damaged, it is impossible to perform the control of a quadrotor using old control strategies or conventional fault tolerant control techniques. The emergency controller designed in this paper detects online any failure or fault in the quadrotor UAV motors, and whenever a severe fault (one which the Passive Fault Tolerant Sliding Mode Controller of the quadrotor cannot hold) occurs the controller applies some weight modifications so the three remaining motors are used to control the UAV as a trirotor. The controller uses a nonlinear sliding mode observer as Fault Diagnosis and Identification (FDI) unit to detect and estimate the magnitude of the fault online. SIMULINK results show that the proposed controller is fast in fault detection and successful in controlling the damaged quadrotor until it finishes its path.

Original languageEnglish
Title of host publication2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages747-752
Number of pages6
ISBN (Electronic)9781479974092
DOIs
Publication statusPublished - Dec 9 2014
Event2014 IEEE Conference on Control Applications, CCA 2014 - Juan Les Antibes, France
Duration: Oct 8 2014Oct 10 2014

Publication series

Name2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014

Other

Other2014 IEEE Conference on Control Applications, CCA 2014
Country/TerritoryFrance
CityJuan Les Antibes
Period10/8/1410/10/14

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

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