Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control

Abdel Razzak Merheb; Franccois Bateman; Hassan Noura

doi:10.1109/CCA.2015.7320888

Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control

Abdel Razzak Merheb, Franccois Bateman, Hassan Noura

Department of Electrical and Communication Engineering

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

19 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1907-1912
Number of pages	6
ISBN (Electronic)	9781479977871
DOIs	https://doi.org/10.1109/CCA.2015.7320888
Publication status	Published - Nov 4 2015
Event	IEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia Duration: Sept 21 2015 → Sept 23 2015

Publication series

Name	2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings

Other

Other	IEEE Conference on Control and Applications, CCA 2015
Country/Territory	Australia
City	Sydney
Period	9/21/15 → 9/23/15

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/CCA.2015.7320888

Cite this

Merheb, A. R., Bateman, F., & Noura, H. (2015). Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control. In 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings (pp. 1907-1912). Article 7320888 (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCA.2015.7320888

Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control. / Merheb, Abdel Razzak; Bateman, Franccois; Noura, Hassan.
2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1907-1912 7320888 (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings).

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

Merheb, AR, Bateman, F & Noura, H 2015, Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control. in 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings., 7320888, 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1907-1912, IEEE Conference on Control and Applications, CCA 2015, Sydney, Australia, 9/21/15. https://doi.org/10.1109/CCA.2015.7320888

Merheb AR, Bateman F, Noura H. Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control. In 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1907-1912. 7320888. (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings). doi: 10.1109/CCA.2015.7320888

Merheb, Abdel Razzak ; Bateman, Franccois ; Noura, Hassan. / Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control. 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1907-1912 (2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings).

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Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control

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