– The growing use of small unmanned rotorcraft in civilian applications means that safe operation is increasingly important. The purpose of this paper is to investigate the fault tolerant properties to faults in the actuators of an ℒ1 adaptive controller for a quadrotor vehicle.

    Design/methodology/approach

    – ℒ1 adaptive control provides fast adaptation along with decoupling between adaptation and robustness. This makes the approach a suitable candidate for fault tolerant control of quadrotor and other multirotor vehicles. In the paper, the design of an ℒ1 adaptive controller is presented. The controller is compared to a fixed-gain LQR controller.

    Findings

    – The ℒ1 adaptive controller is shown to have improved performance when subject to actuator faults, and a higher range of actuator fault tolerance.

    Research limitations/implications

    – The control scheme is tested in simulation of a simple model that ignores aerodynamic and gyroscopic effects. Hence for further work, testing with a more complete model is recommended followed by implementation on an actual platform and flight test. The effect of sensor noise should also be considered along with investigation into the influence of wind disturbances and tolerance to sensor failures. Furthermore, quadrotors cannot tolerate total failure of a rotor without loss of control of one of the degrees of freedom, this aspect requires further investigation.

    Practical implications

    – Applying the ℒ1 adaptive controller to a hexrotor or octorotor would increase the reliability of such vehicles without recourse to methods that require fault detection schemes and control reallocation as well as providing tolerance to a total loss of a rotor.

    Social implications

    – In order for quadrotors and other similar unmanned air vehicles to undertake many proposed roles, a high level of safety is required. Hence the controllers should be fault tolerant.

    Originality/value

    – Fault tolerance to partial actuator/effector faults is demonstrated using an ℒ1 adaptive controller.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fault tolerant control of a quadrotor using ℒ1 adaptive control


    Beteiligte:
    Xu, Dan (Autor:in) / Whidborne, James Ferris (Autor:in) / Cooke, Alastair (Autor:in)


    Erscheinungsdatum :

    2016-01-04


    Format / Umfang :

    24 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Model Reference Adaptive Fault Tolerant Control of a Quadrotor UAV

    Chamseddine, Abbas / Zhang, Youmin / Rabbath, Camille-Alain et al. | AIAA | 2011


    Model Reference Adaptive Fault Tolerant Control of a Quadrotor UAV

    Chamseddine, A. / Zhang, Y. / Rabbath, C.-A. et al. | British Library Conference Proceedings | 2011


    Nonlinear MPC for Quadrotor Fault-Tolerant Control

    Nan, Fang / Sun, Sihao / Foehn, Philipp et al. | BASE | 2022

    Freier Zugriff

    Fault tolerant control of a quadrotor UAV using sliding mode control

    Sharifi, Farid / Mirzaei, Mostafa / Gordon, Brandon W. et al. | Tema Archiv | 2010