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 |
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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 (Print) | 9781479977871 |
DOIs | |
Publication status | Published - Nov 4 2015 |
Event | IEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia Duration: Sept 21 2015 → Sept 23 2015 |
Other
Other | IEEE Conference on Control and Applications, CCA 2015 |
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Country/Territory | Australia |
City | Sydney |
Period | 9/21/15 → 9/23/15 |
ASJC Scopus subject areas
- Control and Systems Engineering