TY - GEN
T1 - A novel emergency controller for quadrotor UAVs
AU - Merheb, Abdel Razzak
AU - Noura, Hassan
AU - Bateman, Francois
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/9
Y1 - 2014/12/9
N2 - 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.
AB - 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.
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U2 - 10.1109/CCA.2014.6981430
DO - 10.1109/CCA.2014.6981430
M3 - Conference contribution
AN - SCOPUS:84920540785
T3 - 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
SP - 747
EP - 752
BT - 2014 IEEE Conference on Control Applications, CCA. Part of 2014 IEEE Multi-conference on Systems and Control, MSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE Conference on Control Applications, CCA 2014
Y2 - 8 October 2014 through 10 October 2014
ER -