TY - GEN
T1 - Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs
AU - Merheb, Abdel Razzak
AU - Noura, Hassan
AU - Bateman, Francois
AU - Al-Jaroodi, Jameela
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/7
Y1 - 2015/7/7
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84941133848&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS.2015.7152348
DO - 10.1109/ICUAS.2015.7152348
M3 - Conference contribution
AN - SCOPUS:84941133848
T3 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
SP - 660
EP - 668
BT - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Y2 - 9 June 2015 through 12 June 2015
ER -