TY - GEN
T1 - Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control
AU - Merheb, Abdel Razzak
AU - Bateman, Franccois
AU - Noura, Hassan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/4
Y1 - 2015/11/4
N2 - In this paper, Second Order Sliding Mode technique is used to develop a Passive Fault Tolerant Controller (PFTC) for octorotor UAVs. Super twisting algorithm is applied to form the discontinuous part of the controller. Optimal controller gains are found using Ecological Systems Algorithm, a bio-inspired optimization algorithm made to search within the stability region of the controller. An Active Fault Tolerant Controller (AFTC) version of the controller is designed using Pseudo-Inverse and Dynamic control re-allocation methods. SIMULINK based simulation results show the effectiveness of the proposed controllers which exceed the performance of First Order Sliding Mode active fault tolerant controller.
AB - In this paper, Second Order Sliding Mode technique is used to develop a Passive Fault Tolerant Controller (PFTC) for octorotor UAVs. Super twisting algorithm is applied to form the discontinuous part of the controller. Optimal controller gains are found using Ecological Systems Algorithm, a bio-inspired optimization algorithm made to search within the stability region of the controller. An Active Fault Tolerant Controller (AFTC) version of the controller is designed using Pseudo-Inverse and Dynamic control re-allocation methods. SIMULINK based simulation results show the effectiveness of the proposed controllers which exceed the performance of First Order Sliding Mode active fault tolerant controller.
UR - http://www.scopus.com/inward/record.url?scp=84964391102&partnerID=8YFLogxK
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U2 - 10.1109/CCA.2015.7320888
DO - 10.1109/CCA.2015.7320888
M3 - Conference contribution
AN - SCOPUS:84964391102
T3 - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
SP - 1907
EP - 1912
BT - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Conference on Control and Applications, CCA 2015
Y2 - 21 September 2015 through 23 September 2015
ER -