NDLI: Fault-tolerant predictive trajectory tracking of an air vehicle based on acceleration control

Content Provider	IET Digital Library
Author	Emami, Seyyed Ali Banazadeh, Afshin
Abstract	A novel fault-tolerant model predictive control (MPC)-based trajectory tracking approach for an aerial vehicle is presented in this study. A generalised online sequential extreme learning machine is introduced first to identify the corresponding coefficients of actuator faults. Subsequently, a robust trajectory tracking control is developed based on MPC, where the system constraints can be effectively considered in the designed control scheme. Trajectory tracking control is achieved by controlling only the acceleration of the aerial robot in the MPC structure. This leads to less computational burden and faster closed-loop dynamics. In addition, an effective disturbance observer is employed, which can satisfactorily capture the effects of unmodelled dynamics and external disturbances on the system dynamics. The stability of the proposed control algorithm is proved based on the Lyapunov theory under realistic assumptions. Finally, the proposed control strategy is applied to a quadrotor unmanned aerial vehicle. Both simulation and experimental results are presented to demonstrate the effectiveness of the introduced fault-tolerant control scheme. The obtained results suggest that the designed control approach is capable of stabilising the attitude and providing acceptable performance in tracking a predefined trajectory in a three-dimensional environment in the simultaneous presence of actuator faults and external disturbances.
Starting Page	750
Ending Page	762
Page Count	13
ISSN	17518644
Volume Number	14
e-ISSN	17518652
Issue Number	Issue 5, Mar (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/14/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2019.0596
Journal	IET Control Theory & Applications
Publisher Date	2019-12-04
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Acceleration Control Actuator Fault Actuators Adaptive Control Aerospace Control Air Vehicle Aircraft Control Autonomous Aerial Vehicle Closed Loop System Control System Analysis Control System Synthesis Designed Control Scheme Effective Disturbance Observer Fault-tolerant Model Predictive Control-based Trajectory Tracking Approach Fault-tolerant Predictive Trajectory Tracking Generalised Online Sequential Extreme Learning Machine Introduced Fault-tolerant Control Scheme Knowledge Engineering Technique Learning in AI Lyapunov Method Mobile Robots Modelling And Identification Motion Control MPC Nonlinear Control System Observers Optimal Control Position Control Predefined Trajectory Predictive Control Quadrotor Unmanned Aerial Vehicle Remotely Operated Vehicle Robust Control Rotation Control Self Adjusting Control System Simulation Spatial Variables Control Stability Stability in Control Theory Synthesis Method Telerobotics Trajectory Control Velocity
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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