Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators
Journal article, 2019

In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed fault-tolerant control algorithm contains a baseline controller, the fault detection and isolation scheme, and the controller reconstruction module. A robust parameter identification method is designed to identify the torque and thrust generated by the actuators. The feasibility of isolating the fault for the redundant actuators is analyzed through mathematical proof. Through the analysis, the practical fault isolation algorithm is also proposed. Two typical aerial vehicles with redundant actuators, an eight-rotor aircraft and a hexa-rotor aircraft, are adopted in numerical simulations to verify the effectiveness of the proposed fault-tolerant control approach.

Author

Yushu Yu

Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems

Beihang University

Yiqun Dong

University of Michigan

International Journal of Aerospace Engineering

1687-5966 (ISSN) 1687-5974 (eISSN)

Vol. 2019 9754981

Subject Categories

Robotics

Control Engineering

Other Electrical Engineering, Electronic Engineering, Information Engineering

DOI

10.1155/2019/9754981

More information

Latest update

5/6/2019 9