Download or read book Fault Tolerant and Reconfigurable Control of Unmanned Aerial Vehicles UAVs written by and published by . This book was released on 2008 with total page 31 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are critical components of the future naval forces. UAV control and monitoring with autonomous operation will become an absolute necessity and adaptive cooperation of vehicles is the only practical alternative. The objective of this project is to develop and evaluate new methodologies for cooperative (formation) control of multiple unmanned air vehicles. The goal is to have multiple UAVs working together as a group. Instead of separately assigning distinct tasks to each vehicle, the operator would assign tasks to the UAV group, which then determines the best way to accomplish each task, freeing the operator to maintain surveillance over the entire operation. In this project we investigated Path Tracking and obstacle avoidance of UAVs using fuzzy logic method. Algorithms for close formation control of multi-UAVs are developed and simulated. We also investigated fault-tolerant control of single UAVs by neuro-adaptive method. Detailed description of this method is provided in this document. The project has supported S graduate students with 9 technical papers published.

Download or read book Fault tolerant Flight Control and Guidance Systems written by Guillaume J. J. Ducard and published by Springer Science & Business Media. This book was released on 2009-05-14 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a complete overview of fault-tolerant flight control techniques. Discussion covers the necessary equations for the modeling of small UAVs, a complete system based on extended Kalman filters, and a nonlinear flight control and guidance system.

Download or read book Safety And Reliability In Cooperating Unmanned Aerial Systems written by Camille Alain Rabbath and published by World Scientific. This book was released on 2010-01-25 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides a comprehensive overview of recent advances in the analysis and design of health management systems for cooperating unmanned aerial vehicles. Such systems rely upon monitoring and fault adaptation schemes. Motivation for their study comes from the fact that, despite the use of fault-tolerant control software and hardware embedded onboard air vehicles, overall fleet performance may still be degraded after the occurrence of anomalous events such as systems faults and failures. Cooperative health management (CHM) systems seek to provide adaptation to the presence of faults by capitalizing on the availability of interconnected computing, sensing and actuation resources.This monograph complements the proposed CHM concepts by means of case studies and application examples. It presents fundamental principles and results encompassing optimization, systems theory, information theory, dynamics, modeling and simulation. Written by pioneers in cooperative control, health management and fault-tolerant control for unmanned systems, this book is a unique source of information for designers, researchers and practitioners interested in the field.

Download or read book Fault Diagnosis and Fault tolerant Control of Unmanned Aerial Vehicles written by Ban Wang and published by . This book was released on 2018 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: With the increasing demand for unmanned aerial vehicles (UAVs) in both military and civilian applications, critical safety issues need to be specially considered in order to make better and wider use of them. UAVs are usually employed to work in hazardous and complex environments, which may seriously threaten the safety and reliability of UAVs. Therefore, the safety and reliability of UAVs are becoming imperative for development of advanced intelligent control systems. The key challenge now is the lack of fully autonomous and reliable control techniques in face of different operation conditions and sophisticated environments. Further development of unmanned aerial vehicle (UAV) control systems is required to be reliable in the presence of system component faults and to be insensitive to model uncertainties and external environmental disturbances. This thesis research aims to design and develop novel control schemes for UAVs with consideration of all the factors that may threaten their safety and reliability. A novel adaptive sliding mode control (SMC) strategy is proposed to accommodate model uncertainties and actuator faults for an unmanned quadrotor helicopter. Compared with the existing adaptive SMC strategies in the literature, the proposed adaptive scheme can tolerate larger actuator faults without stimulating control chattering due to the use of adaptation parameters in both continuous and discontinuous control parts. Furthermore, a fuzzy logic-based boundary layer and a nonlinear disturbance observer are synthesized to further improve the capability of the designed control scheme for tolerating model uncertainties, actuator faults, and unknown external disturbances while preventing overestimation of the adaptive control parameters and suppressing the control chattering effect. Then, a cost-effective fault estimation scheme with a parallel bank of recurrent neural networks (RNNs) is proposed to accurately estimate actuator fault magnitude and an active fault-tolerant control (FTC) framework is established for a closed-loop quadrotor helicopter system. Finally, a reconfigurable control allocation approach is combined with adaptive SMC to achieve the capability of tolerating complete actuator failures with application to a modified octorotor helicopter. The significance of this proposed control scheme is that the stability of the closed-loop system is theoretically guaranteed in the presence of both single and simultaneous actuator faults.

Download or read book Fault Tolerant Cooperative Control of Unmanned Aerial Vehicles written by Ziquan Yu and published by Springer Nature. This book was released on 2023-12-06 with total page 226 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on the fault-tolerant cooperative control (FTCC) of multiple unmanned aerial vehicles (multi-UAVs). It provides systematic and comprehensive descriptions of FTCC issues in multi-UAVs concerning faults, external disturbances, strongly unknown nonlinearities, and input saturation. Further, it addresses FTCC design from longitudinal motions to attitude motions, and outer-loop position motions of multi-UAVs. The book’s detailed control schemes can be used to enhance the flight safety of multi-UAVs. As such, the book offers readers an in-depth understanding of UAV safety in cooperative/formation flight and corresponding design methods. The FTCC methods presented here can also provide guidelines for engineers to improve the safety of aerospace engineering systems. The book offers a valuable asset for scientists and researchers, aerospace engineers, control engineers, lecturers and teachers, and graduates and undergraduates in the system and control community, especially those working in the field of UAV cooperation and multi-agent systems.

Download or read book A Fault tolerant Control Architecture for Unmanned Aerial Vehicles written by Graham R. Drozeski and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Research has presented several approaches to achieve varying degrees of fault-tolerance in unmanned aircraft. Approaches in reconfigurable flight control are generally divided into two categories: those which incorporate multiple non-adaptive controllers and switch between them based on the output of a fault detection and identification element and those that employ a single adaptive controller capable of compensating for a variety of fault modes. Regardless of the approach for reconfigurable flight control, certain fault modes dictate system restructuring in order to prevent a catastrophic failure. System restructuring enables active control of actuation not employed by the nominal system to recover controllability of the aircraft. After system restructuring, continued operation requires the generation of flight paths that adhere to an altered flight envelope. The control architecture developed in this research employs a multi-tiered hierarchy to allow unmanned aircraft to generate and track safe flight paths despite the occurrence of potentially catastrophic faults. The hierarchical architecture increases the level of autonomy of the system by integrating five functionalities with the baseline system: fault detection and identification, active system restructuring, reconfigurable flight control, reconfigurable path planning, and mission adaptation. Fault detection and identification algorithms continually monitor aircraft performance and issue fault declarations. When the severity of a fault exceeds the capability of the baseline flight controller, active system restructuring expands the controllability of the aircraft using unconventional control strategies not exploited by the baseline controller. Each of the reconfigurable flight controllers and the baseline controller employ a proven adaptive neural network control strategy. A reconfigurable path planner employs an adaptive model of the vehicle to re-shape the desired flight path. Generation of the revised flight path is posed as a linear program constrained by the response of the degraded system. Finally, a mission adaptation component estimates limitations on the closed-loop performance of the aircraft and adjusts the aircraft mission accordingly. A combination of simulation and flight test results using two unmanned helicopters validates the utility of the hierarchical architecture.

Download or read book Autonomous Safety Control of Flight Vehicles written by Xiang Yu and published by CRC Press. This book was released on 2021-02-12 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerospace vehicles are by their very nature a crucial environment for safety-critical systems. By virtue of an effective safety control system, the aerospace vehicle can maintain high performance despite the risk of component malfunction and multiple disturbances, thereby enhancing aircraft safety and the probability of success for a mission. Autonomous Safety Control of Flight Vehicles presents a systematic methodology for improving the safety of aerospace vehicles in the face of the following occurrences: a loss of control effectiveness of actuators and control surface impairments; the disturbance of observer-based control against multiple disturbances; actuator faults and model uncertainties in hypersonic gliding vehicles; and faults arising from actuator faults and sensor faults. Several fundamental issues related to safety are explicitly analyzed according to aerospace engineering system characteristics; while focusing on these safety issues, the safety control design problems of aircraft are studied and elaborated on in detail using systematic design methods. The research results illustrate the superiority of the safety control approaches put forward. The expected reader group for this book includes undergraduate and graduate students but also industry practitioners and researchers. About the Authors: Xiang Yu is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include safety control of aerospace engineering systems, guidance, navigation, and control of unmanned aerial vehicles. Lei Guo, appointed as "Chang Jiang Scholar Chair Professor", is a Professor with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include anti-disturbance control and filtering, stochastic control, and fault detection with their applications to aerospace systems. Youmin Zhang is a Professor in the Department of Mechanical, Industrial and Aerospace Engineering, Concordia University, Montreal, Québec, Canada. His research interests include fault diagnosis and fault-tolerant control, and cooperative guidance, navigation, and control (GNC) of unmanned aerial/space/ground/surface vehicles. Jin Jiang is a Professor in the Department of Electrical & Computer Engineering, Western University, London, Ontario, Canada. His research interests include fault-tolerant control of safety-critical systems, advanced control of power plants containing non-traditional energy resources, and instrumentation and control for nuclear power plants.

Download or read book Fault tolerant Control of a Multirotor Unmanned Aerial Vehicle Under Hardware and Software Failures written by Hussein Hamadi and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The aim of this work is to propose mechanisms for multirotor drones that allow, on the one hand, to tolerate faults on the drone, and on the other hand to take into account the effects of the wind outdoors. The faults targeted include fault in actuators, sensors, but also software faults on the data fusion algorithms. ln our work, we have developed a robust controller and an exterior disturbance observer capable of cooperating with th, contrai reconfiguration method, to simultaneously tolerate motor failures and exterior wind disturbances through active fault tolerance techniques... We have also proposed a new technique for tolerating actuator faults for a coaxial octorotor drone. This technique is based on a robust command law with reconfigurable "self tuning sliding mode control (STSMC)" gains, where the control gains are readjusted according to the detected error in order to maintain the stability of the system. lndoor experiments are conducted to show and compare our solution with two other fault tolerance techniques. The efficiency and behavior of each method are studied after successive fault injections into the actuators. The main advantages and disadvantages of each method are deduced by analyzing the results obtained. Additionally, we provide an approach for fault tolerance of drone data fusion sensors and software mechanisms. This approach is based on the redundancy of sensors and the diversification of software components.

Download or read book Robust Formation Control for Multiple Unmanned Aerial Vehicles written by Hao Liu and published by CRC Press. This book was released on 2022-12-01 with total page 145 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is based on the authors’ recent research results on formation control problems, including time-varying formation, communication delays, fault-tolerant formation for multiple UAV systems with highly nonlinear and coupled, parameter uncertainties, and external disturbances. Differentiating from existing works, this book presents a robust optimal formation approach to designing distributed cooperative control laws for a group of UAVs, based on the linear quadratic regulator control method and the robust compensation theory. The proposed control method is composed of two parts: the nominal part to achieve desired tracking performance and the robust compensation part to restrain the influence of highly nonlinear and strongly coupled parameter uncertainties, and external disturbances on the global closed-loop control system. Furthermore, this book gives proof of their robust properties. The influence of communication delays and actuator fault tolerance can be restrained by the proposed robust formation control protocol, and the formation tracking errors can converge into a neighborhood of the origin bounded by a given constant in a finite time. Moreover, the book provides details about the practical application of the proposed method to design formation control systems for multiple quadrotors and tail-sitters. Additional features include a robust control method that is proposed to address the formation control problem for UAVs and theoretical and experimental research for the cooperative flight of the quadrotor UAV group and the tail-sitter UAV group. Robust Formation Control for Multiple Unmanned Aerial Vehicles is suitable for graduate students, researchers, and engineers in the system and control community, especially those engaged in the areas of robust control, UAV swarming, and multi-agent systems.

Download or read book Fault Tolerant Flight Control of Unmanned Aerial Vehicles written by Iman Sadeghzadeh and published by . This book was released on 2015 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safety, reliability and acceptable level of performance of dynamic control systems are the major keys in all control systems especially in safety-critical control systems. A controller should be capable of handling noises and uncertainties imposed to the controlled process. A fault-tolerant controller should be able to control a system with guaranteed stability and good or acceptable performance not only in normal operation conditions but also in the presence of partial faults or total failures that can be occurred in the components of the system. When a fault occurs in a system, it suddenly starts to behave in an unanticipated manner. Thereby, a fault-tolerant controller should be designed for being able to handle the fault and guarantee system stability and acceptable performance in the presence of faults/damages. This shows the importance and necessity of Fault-Tolerant Control (FTC) to safety-critical and even nowadays for some new and non-safety-critical systems. During recent years, Unmanned Aerial Vehicles (UAVs) have proved to play a significant role in military and civil applications. The success of UAVs in different missions guarantees the growing number of UAVs to be considerable in future. Reliability of UAVs and their components against faults and failures is one of the most important objectives for safety-critical systems including manned airplanes and UAVs. The reliability importance of UAVs is implied in the acknowledgement of the Office of the Secretary of Defense in the UAV Roadmap 2005-2030 by stating that, ?Improving UA [unmanned aircraft] reliability is the single most immediate and long-reaching need to ensure their success?. This statement gives a wide future scenery of safety, reliability and Fault-Tolerant Flight Control (FTFC) systems of UAVs. The main objective of this thesis is to investigate and compare some aspects of fault tolerant flight control techniques such as performance, robustness and capability of handling the faults and failures during the flight of UAVs. Several control techniques have been developed and tested on two main platforms at Concordia University for fault-tolerant control techniques development, implementation and flight test purposes: quadrotor and fixedwing UAVs. The FTC techniques developed are: Gain-Scheduled Proportional-Integral-Derivative (GS-PID), Control Allocation and Re-allocation (CA/RA), Model Reference Adaptive Control (MRAC), and finally the Linear Parameter Varying (LPV) control as an alternative and theoretically more comprehensive gain scheduling based control technique. The LPV technique is used to control the quadrotor helicopter for fault-free conditions. Also a GS-PID controller is used as a fault-tolerant controller and implemented on a fixedwing UAV in the presence of a stuck rudder failure case.

Download or read book Diagnostic and Fault tolerant Control Applied to an Unmanned Aerial Vehicle written by Abdel-Razzak Merheb and published by . This book was released on 2016 with total page 183 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAV) are more and more popular for their civil and military applications. Classical control laws usually show weaknesses in the presence of parameter uncertainties, environmental disturbances, and actuator and sensor faults. Therefore, it is judicious to design a control law capable of stabilizing the UAV not only in the fault-free nominal cases, but also in the presence of disturbances and faults. In this thesis, a new bio-inspired search algorithm called Ecological Systems Algorithm (ESA) suitable for engineering optimization problems is developed. The algorithm is used over the thesis to find optimal gains for the fault tolerant controllers. Sliding Mode Control theory is used to develop two Passive Fault Tolerant Controllers for quadrotor UAVs: Regular and Cascaded SMC. Because Passive Controllers handle a few numbers of faults, an Active Sliding Mode Fault Tolerant Controller using Kalman Filter is developed. To overcome severe faults and failures, an emergency controller based on the Quadrotor-to-Trirotor conversion maneuver is developed. The Controllers developed so far (Passive, Active, and emergency controllers) are then integrated to form the Integrated Fault Tolerant Controller (IFTC). The IFTC is a powerful controller that is able to handle a wide number of faults, and save actuator resources as well as processor computational effort. Finally, Passive and Active Fault Tolerant Controllers are designed for octorotor UAVs based on First Order and Second Order Sliding Mode Control. The AFTC uses Dynamic and Pseudo-Inverse Control Allocation methods to redistribute the control effort among healthy actuators reducing the effect of fault.

Download or read book Fault Tolerant Control with Applications to Aircraft Using Linear Quadratic Design Framework written by Bin Yu and published by . This book was released on 2016 with total page 154 pages. Available in PDF, EPUB and Kindle. Book excerpt: Safety is one of the major concerns in the aviation community for both manned aircraft and unmanned aerial vehicles (UAVs). The safety issue of manned aircraft, such as commercial aircraft, has drawn great attentions especially after a series of disasters in recent decades. Safety and reliability issues of UAVs have also attracted significant attention due to their highly autonomous feature towards their future civilian applications. Focusing on the improvement of safety and reliability of aircraft, a fault-tolerant control (FTC) system is demanded to utilize the configured redundancy in an effective and efficient manner to increase the survivability of aircraft in the presence of faults/failures. This thesis aims to develop an effective FTC system to improve the security, reliability, and survivability of the faulty aircraft: manned aircraft and UAVs. In particular, the emphases are focused on improving the on-line fault-tolerant capability and the transient performance between faults occurrence and control re-configuration. In the existing fault-tolerant literature, several control approaches are developed to possess fault-tolerant capability in recent decades, such as sliding mode control (SMC), model reference adaptive control (MRAC), and model predictive control (MPC), just as examples. Different strategies have their specific benefits and drawbacks in addressing different aspects of fault-tolerant problems. However, there are still open problems in the fault-tolerant performance improvement, the transient behavior management, consideration of the interaction between FTC and fault detection and diagnosis (FDD), etc. For instance, MPC is recognized as a suitable inherent structure in synthesizing a FTC system due to its capability of addressing faults via solving constraints, reforming cost function, and updating model on-line. However, this on-line FTC capability introduces further challenges in terms of fault problem formulation, on-line computation, transient behavior before reconfiguration is triggered, etc. Designing an efficient FDD is also a challenge topic with respect to time response speed, accuracy, and reliability due to its interaction with a fault-tolerant controller. In the control design framework based on linear quadratic (LQ) cost function formulation, faults can be accommodated in both passive and active way. A passive FTC system is synthesized with a prescribed degree of stability LQ design technique. The state of the post-fault system is obtained through state-augmented extended Kalman filter (SAEKF), which is a combined technique with state and parameter estimation. In terms of reconfiguration capability, MPC is considered as a favorable active FTC strategy. In addition to MPC framework, the improvement of on-line computational efficiency motivates MPC to be used to perform fault-tolerant flight control. Furthermore, a Laguerre-function based MPC (LF-MPC) is presented to enhance the on-line fault-tolerant capability. The modification is based on a series of Laguerre functions to model the control trajectory with fewer parameters. In consequence, the computation load is reduced, which improves the real-time fault-tolerant capability in the framework of MPC. The FTC capability is further improved for accommodating the performance degradation during the transient period before the control reconfiguration. This approach is inspired by exponentially increasing weighting matrix used in linear quadratic regulator (LQR). Two platforms are used to perform the evaluation of the designed FTC system. A quadrotor UAV, named the Qball-X4, is utilized to test FTC designed with exponentially increasing weighing matrix LQ technique and FDD designed with SAEKF. The evaluation is conducted under the task of trajectory tracking in the presence of loss of control effectiveness (LOE) faults of actuators. The modified MPC is utilized to synthesize an active FTC system to accommodate the elevator stuck fault of a Boeing 747-100/200 benchmark model. The exponentially increasing weighing matrix LQ technique is further implemented in LF-MPC framework to improve the fault-tolerant capability before the control reconfiguration. A time delayed FDD is integrated into the evaluation process to present the effectiveness of the proposed FTC strategies. The designed FTC system is evaluated under the emergency landing task in the event of failure of elevators.

Download or read book A Closer Look at Fault Tolerant Control written by Jeremy M. Hutton and published by . This book was released on 2020 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: "A Closer Look at Fault-Tolerant Control first presents the application of a fault tolerant control system on distillation processes, with automatic actuator faults containment capabilities and an atmospheric crude distillation unit. Following this, model-based fault-tolerant control and fault accommodation algorithms are presented for two challenging classes of distributed systems: a spatially distributed system that can be decomposed into interconnected subsystems, and a distributed parameter system where the system state is distributed over a continuous range of space. The authors present recent research on fault-tolerant control systems for unmanned aerial systems, particularly for multirotor-type vehicles commonly known as drones. An overview of tools for the analysis of the fundamental properties of an automated system is provided, allowing for any inherent redundancy in the controlled process to be utilised to maintain availability. Additionally, a reconfigurable fault-tolerant flight control system is proposed to combat sensor/actuator faults for autonomous underwater vehicles. The reconfigurable design and operation of complex systems is addressed, with emphasis on autonomous systems, building upon concepts of autonomy, incipient failure diagnosis and prognosis algorithms. The authors present a fault detection filter for induction motors speed as a class of nonlinear system in networked control systems subject to induced time delays. The multi-model approach for the modeling of induction motors is described using a set of linear models. In the concluding study, the construction of an induction motor is presented, and a review of induction motor failures is discussed"--

Download or read book Autonomous Control of Unmanned Aerial Vehicles written by Victor Becerra and published by MDPI. This book was released on 2019-06-24 with total page 476 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are being increasingly used in different applications in both military and civilian domains. These applications include surveillance, reconnaissance, remote sensing, target acquisition, border patrol, infrastructure monitoring, aerial imaging, industrial inspection, and emergency medical aid. Vehicles that can be considered autonomous must be able to make decisions and react to events without direct intervention by humans. Although some UAVs are able to perform increasingly complex autonomous manoeuvres, most UAVs are not fully autonomous; instead, they are mostly operated remotely by humans. To make UAVs fully autonomous, many technological and algorithmic developments are still required. For instance, UAVs will need to improve their sensing of obstacles and subsequent avoidance. This becomes particularly important as autonomous UAVs start to operate in civilian airspaces that are occupied by other aircraft. The aim of this volume is to bring together the work of leading researchers and practitioners in the field of unmanned aerial vehicles with a common interest in their autonomy. The contributions that are part of this volume present key challenges associated with the autonomous control of unmanned aerial vehicles, and propose solution methodologies to address such challenges, analyse the proposed methodologies, and evaluate their performance.

Download or read book Fault tolerant Control and Fault Detection for Unmanned Aerial Vehicles written by Daniel Rupp and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Fault Diagnosis and Fault tolerant Control of Quadrotor UAVs written by Remus C. Avram and published by . This book was released on 2016 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: Quadrotors represent a special class of Unmanned Aerial Vehicles (UAVs) and have attracted significant attention in recent years due to their potential in various military and civilian applications. However, due to their intrinsic fabrication process and component damage, quadrotors are prone to various type of faults. This dissertation presents the design, analysis, and experimental implementation of fault diagnosis, fault-tolerant control, and controller verification methods to achieve safety assurance and trusted autonomy of quadrotor UAVs. First, the issue of sensor faults is investigated under two different scenarios: (1) the case when all Euler angles are available for measurement; (2) the case when roll and pitch angles are not measurable and need to be estimated. Nonlinear adaptive estimators are designed to provide possible simultaneous accelerometer and gyroscope fault detection, isolation, and bias estimation. Next, the issue of fault-tolerant control of quadrotor UAV in the presence of actuator faults is considered. First, the design of an integrated fault diagnosis and accommodation scheme is investigated. Nonlinear adaptive thresholds are designed to improve the robustness of the fault detection and isolation algorithm. The fault diagnostic information is used for accommodating the effect of the faults. Second, a nonlinear adaptive fault-tolerant altitude and attitude controller is developed to automatically stabilize and recover tracking performance of the quadrotor, even in the presence of possible multiple simultaneous actuator faults. Compared with the first approach, the adaptive control framework is able to automatically accommodate the effects of actuator faults without the need of a fault diagnosis mechanism. Finally, a run-time assurance architecture is investigated for the verification and validation of the adaptive fault-tolerant altitude attitude controller. The algorithms are presented with a rigorous framework aimed at characterizing their performance properties. The above algorithms are implemented and evaluated using a real-time indoor quadrotor test environment. Experimental flight test results are shown to illustrate the effectiveness of the proposed methods.

Download or read book Lyapunov based Fault Tolerant Control of Quadrotor Unmanned Aerial Vehicles written by Xiaobing Zhang and published by . This book was released on 2010 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents the theoretical development, simulation study and flight tests of a Lyapunov-based control approach for the Fault Tolerant Control (FTC) of a quadrotor unmanned aerial vehicle (UAV). Based on the derivation of nonlinear model of the dynamics of the quadrotor UAV, a Lyapunov-based control approach with fixed controller gains is proposed and firstly demonstrated through simulations of the quadrotor UAV for handling system parameter uncertainties. Secondly, this proposed Lyapunov-based approach with the selected controller gains is applied as a fault tolerant controller in the framework of a passive Fault Tolerant Control System (FTCS), for handling less severe faults occurring in the quadrotor UAV. Thirdly, the proposed new controller by Lyapunov-based adaptive control method for fault tolerant control of the quadrotor UAV is proposed to handle more severe faults. Finally, the Lyapunov-based control method has been implemented to the test bed, Qball-X4 Unmanned Aerial Vehicle, and the acceptable performances on altitude control have been achieved. In the thesis, simulation and flight testing results demonstrate that the FTCS with the Lyapunov-based approach has certain robustness for most of partial losses. However, the FTCS with Lyapunov-based adaptive control approach has advantages in accommodating more severe faults for, which may not be addressed by the Lyapunov-based approach.