A design of a Fault Tolerant Control (FTC) based on the fault estimation for VTOLs (Vertical Take-Off and Landing) aerial vehicles is developed in this paper. An analysis of static controllability is applied in order to test the performance degradation of the vehicle under actuator faults. For comparison purposes, the algorithm is developed using two different observers: a linear Proportional-Integral Observer (PIO) and a nonlinear Adaptive Observer (AO), that are applied to the attitude and altitude dynamics of the VTOL aircraft to estimate and compensate actuator faults in the prototype. These faults can occur as partial faults affecting simultaneously two or four actuators. Furthermore, fault isolation is proposed by evaluating the fault estimation signal. The fault control scheme is analysed in flight tests to illustrate its effectiveness. Experimental results show the good performance of the algorithms even in the presence of non-constant actuator faults and following a desired trajectory.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    An Actuator Fault Tolerant Control for VTOL vehicles using Fault Estimation Observers: Practical validation*


    Beteiligte:
    Ortiz-Torres, G. (Autor:in) / Castillo, P. (Autor:in) / Reyes-Reyes, J. (Autor:in)


    Erscheinungsdatum :

    01.06.2018


    Format / Umfang :

    1651287 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Adaptive Fault Tolerant Control for VTOL Aircraft with Actuator Redundancy

    Falconí Salazar, Guillermo Paúl | DataCite | 2021


    Adaptive Fault Tolerant Control for VTOL Aircraft with Actuator Redundancy

    Falconí Salazar, Guillermo Paúl | TIBKAT | 2021

    Freier Zugriff

    VTOL ELECTRIC POWER SYSTEM ARCHITECTURE AND FAULT TOLERANT VTOL AIRCRAFT USING SAME

    BEVIRT JOEBEN / STOLL ALEX / VAN DER GEEST MARTIN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Cascade Observer Based Robust Fault Tolerant Control for VTOL Aircraft

    Jiang, Yuanqing / Yang, Hao / Jiang, Bin | British Library Online Contents | 2015


    FAULT TOLERANT ACTUATOR COORDINATION IN HEAVY-DUTY VEHICLES

    GELSO ESTEBAN / JONASSON MATS / ARIKERE ADITHYA et al. | Europäisches Patentamt | 2024

    Freier Zugriff