NDLI: Sliding mode fault-tolerant control of an octorotor using linear parameter varying-based schemes

Content Provider	IET Digital Library
Author	Alwi, Halim Edwards, Christopher
Abstract	This study presents two fault-tolerant control (FTC) schemes for an octorotor UAV. The FTC schemes are based on an linear parameter varying system representation and utilises a combination of sliding-mode ideas and control allocation (CA) in order to take full advantage of the available redundant rotors in the octorotor configuration. A detailed synthesis procedure for the design of the two FTC schemes in the presence of uncertainty, as well as faults/failures, is presented. The first scheme is based on an online CA methodology where knowledge of the rotor effectiveness level has been used to redistribute the control signals to the healthy rotors. The second scheme assumes that this information is not available and uses a fixed CA structure even in the event of faults/failures. Although the synthesis process for the two schemes is different and they use different strategies to redistribute the control signals when faults/failures occur, both schemes involved the same ‘baseline’ (sliding-mode) controller which does not need to be reconfigured. The difference is in the final physical control law where the CA matrix is defined. Simulation results on the full non-linear octorotor model are presented for the two different schemes in the presence of uncertainty, sensor noise as well as faults/failures. The simulation results for various fault/failure scenarios show no visible degradation in state tracking performance, highlighting the potential of the proposed schemes.
Starting Page	618
Ending Page	636
Page Count	19
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 4, Feb (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/4
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.0215
Journal	IET Control Theory & Applications
Publisher Date	2015-02-24
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Aerospace Control Algebra Autonomous Aerial Vehicle Baseline Controller CA Matrix Control Allocation Control Signal Control System Analysis Control System Synthesis Failure Scenario Fault Tolerant Control Fixed Structure FTC Scheme Design Linear System Matrix Algebra Mobile Robots Multivariable Control System Nonlinear Model Octorotor Configuration Octorotor UAV Physical Control Law Sensor Noise Sliding Mode Fault-tolerant Control State Tracking Performance Synthesis Method Synthesis Procedure Uncertain System Uncertainty Variable Structure System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Fault-tolerant control via sliding-mode output feedback for uncertain linear systems with quantisation

Fault tolerant control with re-configuring sliding-mode schemes.

An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

Back-stepping sliding mode control method for quadrotor UAV with actuator failure

Robust fault tolerant controller design using indirect adaptive sliding mode control strategy

Fault-tolerant control with control allocation for linear time varying systems: an output integral sliding mode approach

Study of Takagi-Sugeno fuzzy-based terminal-sliding mode fault-tolerant control

Fuzzy logic systems-based integral sliding mode fault-tolerant control for a class of uncertain non-linear systems

Output integral sliding mode fault tolerant control scheme for LPV plants by incorporating control allocation

Sliding mode fault-tolerant control of an octorotor using linear parameter varying-based schemes

Similar Documents

Fault-tolerant control via sliding-mode output feedback for uncertain linear systems with quantisation

Fault tolerant control with re-configuring sliding-mode schemes.

An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

Back-stepping sliding mode control method for quadrotor UAV with actuator failure

Robust fault tolerant controller design using indirect adaptive sliding mode control strategy

Fault-tolerant control with control allocation for linear time varying systems: an output integral sliding mode approach

Study of Takagi-Sugeno fuzzy-based terminal-sliding mode fault-tolerant control

Fuzzy logic systems-based integral sliding mode fault-tolerant control for a class of uncertain non-linear systems

Output integral sliding mode fault tolerant control scheme for LPV plants by incorporating control allocation

Sliding mode fault-tolerant control of an octorotor using linear parameter varying-based schemes