TY - GEN
T1 - Passive fault tolerant control of quadrotor UAV using regular and cascaded Sliding Mode Control
AU - Merheb, Abdel Razzak
AU - Noura, Hassan
AU - Bateman, François
PY - 2013
Y1 - 2013
N2 - In this paper, two passive fault tolerant controllers based on Sliding Mode Control theory are designed for AscTec Pelican quadrotor. The first controller is a regular Sliding Mode Controller (SMC) that uses the robustness of SMC and its insensitivity to model uncertainties and disturbances to tolerate two different types of actuator faults. The latter controller is a cascaded SMC (CascSMC) with an inner loop fast SMC controlling the velocity system and tolerating its faults, and an outer loop SMC controlling the inner system (inner SMC and velocity system) with integrator. To tune the parameters of the controllers for their optimal values, a bio-inspired search algorithm called Ecological Search Algorithm (ESA) is used. SIMULINK results show that the proposed controllers are successful in controlling the quadrotor performing a helical path in the space in presence of two different actuator faults. Tests show that the cascaded SMC outperforms the regular SMC in handling tougher faults by compensating them quickly in its fast inner loop.
AB - In this paper, two passive fault tolerant controllers based on Sliding Mode Control theory are designed for AscTec Pelican quadrotor. The first controller is a regular Sliding Mode Controller (SMC) that uses the robustness of SMC and its insensitivity to model uncertainties and disturbances to tolerate two different types of actuator faults. The latter controller is a cascaded SMC (CascSMC) with an inner loop fast SMC controlling the velocity system and tolerating its faults, and an outer loop SMC controlling the inner system (inner SMC and velocity system) with integrator. To tune the parameters of the controllers for their optimal values, a bio-inspired search algorithm called Ecological Search Algorithm (ESA) is used. SIMULINK results show that the proposed controllers are successful in controlling the quadrotor performing a helical path in the space in presence of two different actuator faults. Tests show that the cascaded SMC outperforms the regular SMC in handling tougher faults by compensating them quickly in its fast inner loop.
UR - http://www.scopus.com/inward/record.url?scp=84897687714&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84897687714&partnerID=8YFLogxK
U2 - 10.1109/SysTol.2013.6693910
DO - 10.1109/SysTol.2013.6693910
M3 - Conference contribution
AN - SCOPUS:84897687714
SN - 9781479928552
T3 - Conference on Control and Fault-Tolerant Systems, SysTol
SP - 330
EP - 335
BT - 2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
T2 - 2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
Y2 - 9 October 2013 through 11 October 2013
ER -