When military and civil missions such as transportation increase, fault tolerant control of unmanned aerial vehicles will be an obligation. Although onboard sensors provide information about the status of a quadrotor, the camera is not included in the list. In this study, visual servo control of quadrotors as a popular method for motion control is addressed. we address a visual servo control system for quadrotors as a popular method for motion control. The feature motions in the image plane are analyzed to reveal the relation between the actuator faults and these motions. Four AI fault approximators, a neural network, an extreme learning machine, a linear support vector machine, and a long short-term memory are used to approximate actuator faults of a quadrotor while using feature inputs. The results are convincing and the approximation results are used by a fuzzy logic unit to provide gain-scheduling based fault tolerant control. The proposed system shows sufficient results as a visual servo system for fixed and moving feature targets while providing fault tolerance.


    Access

    Download


    Export, share and cite



    Title :

    Fuzzy Gain-Scheduling Based Fault Tolerant Visual Servo Control of Quadrotors


    Contributors:


    Publication date :

    2023




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown






    Fault Tolerant Controller for Formation Flight of Leader-Follower Quadrotors

    Sruthy, A N / Jacob, Jeevamma / Ramchand, Rijil | IEEE | 2020


    Gain-Scheduling Tracking Control for Quadrotors Under Ground Effects via NTSMC-sLPV

    Zhang, Lixian / Gao, Tianyu / Lin, Zefeng et al. | IEEE | 2025


    Fuzzy gain scheduling control for electro-hydraulic servo velocity system

    Jungong, M. / Shifu, W. / Zhanlin, W. | British Library Online Contents | 2007