Hierarchical fault-tolerant control of a quadrotor based on fault severity

Abdel Razzak Merheb; Francois Bateman; Hassan Noura; Younes Al Younes

doi:10.1109/SYSTOL.2016.7739825

Hierarchical fault-tolerant control of a quadrotor based on fault severity

Abdel Razzak Merheb, Francois Bateman, Hassan Noura, Younes Al Younes

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

2 Citations (Scopus)

Abstract

In this paper, a hierarchical Fault Tolerant Controller (FTC) for quadrotor aircrafts is developed. The proposed controller switches between suitable controllers according to the actuator fault severity. Low amplitude faults are tolerated using the inherent robustness of a regular Sliding Mode Controller (SMC). When fault magnitude increases, an Active FTC is activated. This controller uses the fault estimates provided by an Extended Kalman Filter (EKF) to recover the control loss. When a fault magnitude rises to dangerous values, an emergency controller is activated and the quadrotor continues its mission as a trirotor. Simulation results emphasize the robustness of the proposed controller in real environments where measurement noise and actuator faults affect severely the quadrotor.

Original language	English
Title of host publication	2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
Editors	Ramon Sarrate
Publisher	IEEE Computer Society
Pages	666-671
Number of pages	6
ISBN (Electronic)	9781509006588
DOIs	https://doi.org/10.1109/SYSTOL.2016.7739825
Publication status	Published - Nov 8 2016
Externally published	Yes
Event	3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Barcelona, Spain Duration: Sept 7 2016 → Sept 9 2016

Publication series

Name	Conference on Control and Fault-Tolerant Systems, SysTol
Volume	2016-November
ISSN (Print)	2162-1195
ISSN (Electronic)	2162-1209

Other

Other	3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016
Country/Territory	Spain
City	Barcelona
Period	9/7/16 → 9/9/16

ASJC Scopus subject areas

Computer Science Applications
Hardware and Architecture
Software
Control and Systems Engineering

Access to Document

10.1109/SYSTOL.2016.7739825

Cite this

Merheb, A. R., Bateman, F., Noura, H., & Younes, Y. A. (2016). Hierarchical fault-tolerant control of a quadrotor based on fault severity. In R. Sarrate (Ed.), 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings (pp. 666-671). Article 7739825 (Conference on Control and Fault-Tolerant Systems, SysTol; Vol. 2016-November). IEEE Computer Society. https://doi.org/10.1109/SYSTOL.2016.7739825

Hierarchical fault-tolerant control of a quadrotor based on fault severity. / Merheb, Abdel Razzak; Bateman, Francois; Noura, Hassan et al.
2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. ed. / Ramon Sarrate. IEEE Computer Society, 2016. p. 666-671 7739825 (Conference on Control and Fault-Tolerant Systems, SysTol; Vol. 2016-November).

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

Merheb, AR, Bateman, F, Noura, H & Younes, YA 2016, Hierarchical fault-tolerant control of a quadrotor based on fault severity. in R Sarrate (ed.), 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings., 7739825, Conference on Control and Fault-Tolerant Systems, SysTol, vol. 2016-November, IEEE Computer Society, pp. 666-671, 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016, Barcelona, Spain, 9/7/16. https://doi.org/10.1109/SYSTOL.2016.7739825

Merheb AR, Bateman F, Noura H, Younes YA. Hierarchical fault-tolerant control of a quadrotor based on fault severity. In Sarrate R, editor, 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. IEEE Computer Society. 2016. p. 666-671. 7739825. (Conference on Control and Fault-Tolerant Systems, SysTol). doi: 10.1109/SYSTOL.2016.7739825

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abstract = "In this paper, a hierarchical Fault Tolerant Controller (FTC) for quadrotor aircrafts is developed. The proposed controller switches between suitable controllers according to the actuator fault severity. Low amplitude faults are tolerated using the inherent robustness of a regular Sliding Mode Controller (SMC). When fault magnitude increases, an Active FTC is activated. This controller uses the fault estimates provided by an Extended Kalman Filter (EKF) to recover the control loss. When a fault magnitude rises to dangerous values, an emergency controller is activated and the quadrotor continues its mission as a trirotor. Simulation results emphasize the robustness of the proposed controller in real environments where measurement noise and actuator faults affect severely the quadrotor.",

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Hierarchical fault-tolerant control of a quadrotor based on fault severity

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