Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 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 languageEnglish
Title of host publication2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages660-668
Number of pages9
ISBN (Electronic)9781479960101
DOIs
Publication statusPublished - Jul 7 2015
Event2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States
Duration: Jun 9 2015Jun 12 2015

Publication series

Name2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Other

Other2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/TerritoryUnited States
CityDenver
Period6/9/156/12/15

ASJC Scopus subject areas

  • Transportation
  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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