Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

Abdel Razzak Merheb; Hassan Noura; Francois Bateman; Jameela Al-Jaroodi

doi:10.1109/ICUAS.2015.7152348

Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

Abdel Razzak Merheb, Hassan Noura, Francois Bateman, Jameela Al-Jaroodi

Department of Electrical and Communication Engineering

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

6 Citations (Scopus)

Abstract

In this paper, we propose an Integrated Fault Tolerant Controller (IFTC) for quadrotor UAVs based on Sliding Mode Passive and Active FTCs, along with Trirotor conversion maneuver. A Sliding Mode Observer is used to detect and estimate actuator faults affecting rotors, and a fault severity based decision station activates the suitable controller. The new controller not only ensures fault tolerance, but also saves actuator resources, and processor computational effort. Simulation results in SIMULINK environment, applied on Astec Pelican quadrotor model, emphasize the performance of the Integrated FTC controller in presence of multiple actuator faults.

Original language	English
Title of host publication	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	660-668
Number of pages	9
ISBN (Electronic)	9781479960101
DOIs	https://doi.org/10.1109/ICUAS.2015.7152348
Publication status	Published - Jul 7 2015
Event	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States Duration: Jun 9 2015 → Jun 12 2015

Publication series

Name	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Other

Other	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/Territory	United States
City	Denver
Period	6/9/15 → 6/12/15

ASJC Scopus subject areas

Transportation
Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICUAS.2015.7152348

Cite this

Merheb, A. R., Noura, H., Bateman, F., & Al-Jaroodi, J. (2015). Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 (pp. 660-668). Article 7152348 (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2015.7152348

Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs. / Merheb, Abdel Razzak; Noura, Hassan; Bateman, Francois et al.
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 660-668 7152348 (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015).

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

Merheb, AR, Noura, H, Bateman, F & Al-Jaroodi, J 2015, Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs. in 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015., 7152348, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Institute of Electrical and Electronics Engineers Inc., pp. 660-668, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Denver, United States, 6/9/15. https://doi.org/10.1109/ICUAS.2015.7152348

Merheb AR, Noura H, Bateman F, Al-Jaroodi J. Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 660-668. 7152348. (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015). doi: 10.1109/ICUAS.2015.7152348

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Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

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