NDLI: A novel emergency controller for quadrotor UAVs

Content Provider	IEEE Xplore Digital Library
Author	Merheb, A.-R. Noura, H. Bateman, F.
Copyright Year	2014
Description	Author affiliation: French Air Force Acad., Salon-de-Provence, France (Bateman, F.) \|\| EENG Dept., United Arab Emirates Univ., Al Ain, United Arab Emirates (Noura, H.) \|\| LSIS, Aix-Marseille Univ., Marseille, France (Merheb, A.-R.)
Abstract	In this paper, an emergency controller is developed for AscTec Pelican quadrotor suffering a severe failure in one of its motors or rotors. With one of its motors badly damaged, it is impossible to perform the control of a quadrotor using old control strategies or conventional fault tolerant control techniques. The emergency controller designed in this paper detects online any failure or fault in the quadrotor UAV motors, and whenever a severe fault (one which the Passive Fault Tolerant Sliding Mode Controller of the quadrotor cannot hold) occurs the controller applies some weight modifications so the three remaining motors are used to control the UAV as a trirotor. The controller uses a nonlinear sliding mode observer as Fault Diagnosis and Identification (FDI) unit to detect and estimate the magnitude of the fault online. SIMULINK results show that the proposed controller is fast in fault detection and successful in controlling the damaged quadrotor until it finishes its path.
Starting Page	747
Ending Page	752
File Size	699451
Page Count	6
File Format	PDF
ISBN	9781479974092
DOI	10.1109/CCA.2014.6981430
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Rotors Observers Control systems Fault tolerance Fault tolerant systems Aerodynamics Gravity
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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