Diagnostic and Fault-tolerant Control Applied to an Unmanned Aerial Vehicle

Released on by Abdel-Razzak Merheb
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  • Diagnostic and Fault-tolerant Control Applied to an Unmanned Aerial Vehicle Book Detail

  • Author : Abdel-Razzak Merheb
  • Release Date : 2016
  • Publisher :
  • Genre :
  • Pages : 183
  • ISBN 13 :
  • File Size : 75,75 MB
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Diagnostic and Fault-tolerant Control Applied to an Unmanned Aerial Vehicle by Abdel-Razzak Merheb PDF Summary

Book Description: 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.

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