NDLI: Fault Tolerance of a Reconfigurable Tilt-Rotor Quadcopter Using Sliding Mode Control

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Fault Tolerance of a Reconfigurable Tilt-Rotor Quadcopter Using Sliding Mode Control

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Sridhar, Siddharth Kumar, Rumit Cohen, Kelly Kumar, Manish
Copyright Year	2018
Abstract	Tilt-rotor quadcopters are a novel class of quadcopters with a servo motor attached on each arm that assist the quadcopter’s rotors to tilt to a desired angle thereby enabling thrust vectoring. Using these additional tilt angles, this type of a quadcopter can be used to achieve desired trajectories with faster maneuvering and can handle external disturbances better than a conventional quadcopter. In this paper, a non-linear controller has been designed using sliding mode technique for the pitch, roll, yaw motions and the servo motor tilt angles of the quadcopter. The dynamic model of the tilt-rotor quadcopter is presented, based on which sliding surfaces were designed to minimize the tracking errors. Using the control inputs derived from these sliding surfaces, the state variables converge to their desired values in finite-time. Further, the non-linear sliding surface coefficients are obtained by stability analysis. The robustness of this proposed sliding mode control technique is shown when a faulty motor scenario is introduced. The quadcopter transforms into a T-copter design upon motor failure thereby abetting the UAV to cope up with the instabilities experienced in yaw, pitch and roll axes and still completing the flight mission. The dynamics of the T-copter design and the derivation of the switching surface coefficients for this reconfigurable system are also presented.
Sponsorship	Dynamic Systems and Control Division
File Format	PDF
ISBN	9780791851913
DOI	10.1115/DSCC2018-9199
Volume Number	Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control
Conference Proceedings	ASME 2018 Dynamic Systems and Control Conference
Language	English
Publisher Date	2018-09-30
Publisher Place	Atlanta, Georgia, USA
Access Restriction	Subscribed
Subject Keyword	Stability Rotors Flight Control equipment Motors Sliding mode control Engines Yaw Design Fault tolerance Errors Dynamics (mechanics) Dynamic models Robustness Unmanned aerial vehicles Servomotors Failure Thrust
Content Type	Text
Resource Type	Article

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