Active fault tolerant control of quadrotor UAV using Sliding Mode Control

Abdel Razzak Merheb; Hassan Noura; Francois Bateman

doi:10.1109/ICUAS.2014.6842251

Active fault tolerant control of quadrotor UAV using Sliding Mode Control

Abdel Razzak Merheb, Hassan Noura, Francois Bateman

Department of Electrical and Communication Engineering

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

58 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
Publisher	IEEE Computer Society
Pages	156-166
Number of pages	11
ISBN (Print)	9781479923762
DOIs	https://doi.org/10.1109/ICUAS.2014.6842251
Publication status	Published - 2014
Event	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Orlando, FL, United States Duration: May 27 2014 → May 30 2014

Publication series

Name	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings

Other

Other	2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Country/Territory	United States
City	Orlando, FL
Period	5/27/14 → 5/30/14

ASJC Scopus subject areas

Aerospace Engineering

Access to Document

10.1109/ICUAS.2014.6842251

Cite this

Merheb, A. R., Noura, H., & Bateman, F. (2014). Active fault tolerant control of quadrotor UAV using Sliding Mode Control. In 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings (pp. 156-166). Article 6842251 (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/ICUAS.2014.6842251

Active fault tolerant control of quadrotor UAV using Sliding Mode Control. / Merheb, Abdel Razzak; Noura, Hassan; Bateman, Francois.
2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings. IEEE Computer Society, 2014. p. 156-166 6842251 (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings).

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

Merheb, AR, Noura, H & Bateman, F 2014, Active fault tolerant control of quadrotor UAV using Sliding Mode Control. in 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings., 6842251, 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings, IEEE Computer Society, pp. 156-166, 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014, Orlando, FL, United States, 5/27/14. https://doi.org/10.1109/ICUAS.2014.6842251

Merheb AR, Noura H, Bateman F. Active fault tolerant control of quadrotor UAV using Sliding Mode Control. In 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings. IEEE Computer Society. 2014. p. 156-166. 6842251. (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings). doi: 10.1109/ICUAS.2014.6842251

Merheb, Abdel Razzak ; Noura, Hassan ; Bateman, Francois. / Active fault tolerant control of quadrotor UAV using Sliding Mode Control. 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings. IEEE Computer Society, 2014. pp. 156-166 (2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings).

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Active fault tolerant control of quadrotor UAV using Sliding Mode Control

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