TY - GEN
T1 - Active fault tolerant control of quadrotor UAV using Sliding Mode Control
AU - Merheb, Abdel Razzak
AU - Noura, Hassan
AU - Bateman, Francois
PY - 2014/1/1
Y1 - 2014/1/1
N2 - In this paper, an active fault tolerant controller using Sliding Mode Observers and Sliding Mode Control for fault tolerant control of a quadrotor UAV is proposed. The sliding mode observer estimates online the amount of fault injected in one of the quadrotor motors. The estimated fault information is then used to update the reconfigurable sliding mode controller responsible for the UAV control. Controller reconfiguration is done using two different methods, adding a control residue and scaling the controls by the amount of fault. The controller is tested in Simulink under partial loss of one motor speed actuator fault. Results demonstrated the effectiveness of the controller despite the lack of hardware redundancy of the quadrotor system.
AB - In this paper, an active fault tolerant controller using Sliding Mode Observers and Sliding Mode Control for fault tolerant control of a quadrotor UAV is proposed. The sliding mode observer estimates online the amount of fault injected in one of the quadrotor motors. The estimated fault information is then used to update the reconfigurable sliding mode controller responsible for the UAV control. Controller reconfiguration is done using two different methods, adding a control residue and scaling the controls by the amount of fault. The controller is tested in Simulink under partial loss of one motor speed actuator fault. Results demonstrated the effectiveness of the controller despite the lack of hardware redundancy of the quadrotor system.
UR - http://www.scopus.com/inward/record.url?scp=84904540829&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS.2014.6842251
DO - 10.1109/ICUAS.2014.6842251
M3 - Conference contribution
AN - SCOPUS:84904540829
SN - 9781479923762
T3 - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
SP - 156
EP - 166
BT - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PB - IEEE Computer Society
T2 - 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Y2 - 27 May 2014 through 30 May 2014
ER -