This paper deals with the design and analysis of an adaptive fault tolerant control approach for a quadrotor Unmanned Aerial Vehicle (UAV) subject to Loss of Actuator Effectiveness (LOE) faults. The FTC approach is based on a Super-Twisting (STW) algorithm with an Integral Terminal sliding mode controller. The controller's parameters were dynamically adapted to ensure proper handling of unmatched perturbations and fault uncertainties. Simulation results were carried out to highlight the controller's ability to mitigate actuator faults without compromising system's performance. Excellent tracking performance and strong chattering attenuation are among the key features of the proposed design.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive Fault Tolerant Control Design for Actuator Fault Mitigation in Quadrotor UAVs


    Contributors:


    Publication date :

    2018-08-01


    Size :

    606859 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Fault Tolerant Control Design for Actuator Loss of Effectiveness in Quadrotor Uavs

    Guiatni, Mohamed / Saidani, Habib / Bouzid, Yasser | IEEE | 2019



    Fault-Tolerant Mapping and Localization for Quadrotor UAVs

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | AIAA | 2021


    Fault severity based Integrated Fault Tolerant Controller for quadrotor UAVs

    Merheb, Abdel-Razzak / Noura, Hassan / Bateman, Francois et al. | IEEE | 2015


    FAULT-TOLERANT MAPPING AND LOCALIZATION FOR QUADROTOR UAVS

    Gilson, Maximillian / Gauthier, Jason / Garcia, Kaylee et al. | TIBKAT | 2021