Abstract In this paper, a fault-tolerant control (FTC) scheme is improved to address the locking and loss of effectiveness of a fixed-wing UAV actuator. The FTC scheme proposes a novel way of combining continuous and discrete framework to address both continuous estimation and control performance considerations, together with discrete decision making aspects. An augmented Kalman filter estimates the state and the fault parameters, and the solving of Partially Observable Markov Decision Process (POMDP) decides the feedback controller to be used. This approach is improved to reconfigure the UAV during a landing approach when an actuator becomes faulty. The improved approach allows for taking into account faults on a trimmed aircraft, generalizes the method for defining fault modes and associated controllers and allows for taking into account different time steps for the continuous and discrete components of the FTC. The efficiency of this approach is demonstrated by obtaining a $$25 \%$$ gain on the sum of tracking errors with respect to the nominal controller on a longitudinal model of the Altimum 4.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Reconfiguration Control Method for Faulty Actuator on UAV


    Beteiligte:


    Erscheinungsdatum :

    15.12.2017


    Format / Umfang :

    21 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Reconfiguration of Nonlinear Faulty Systems via Linear Methods

    Zhirabok, Alexey / Bobko, Evgeny / Filatov, Artur | TIBKAT | 2021


    Reconfiguration of Nonlinear Faulty Systems via Linear Methods

    Zhirabok, Alexey / Bobko, Evgeny / Filatov, Artur | Springer Verlag | 2020


    Reconfiguration of flight control systems for actuator failures

    Bajpai, G. / Chang, B.C. / Lau, A. | IEEE | 2000


    Reconfiguration of Flight Control Systems for Actuator Failures

    Bajpai, G. / IEEE / AIAA | British Library Conference Proceedings | 2000


    Reconfiguration of flight control systems for actuator failures

    Bajpai, G. / Chang, B.C. / Lau, A. | IEEE | 2001