Active fault tolerant control of quadrotor UAV using Sliding Mode Control

Abdel Razzak Merheb, Hassan Noura, Francois Bateman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

44 Citations (Scopus)

Abstract

In this paper, an active fault tolerant controller using Sliding Mode Observers and Sliding Mode Control for fault tolerant control of a quadrotor UAV is proposed. The sliding mode observer estimates online the amount of fault injected in one of the quadrotor motors. The estimated fault information is then used to update the reconfigurable sliding mode controller responsible for the UAV control. Controller reconfiguration is done using two different methods, adding a control residue and scaling the controls by the amount of fault. The controller is tested in Simulink under partial loss of one motor speed actuator fault. Results demonstrated the effectiveness of the controller despite the lack of hardware redundancy of the quadrotor system.

Original languageEnglish
Title of host publication2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings
PublisherIEEE Computer Society
Pages156-166
Number of pages11
ISBN (Print)9781479923762
DOIs
Publication statusPublished - Jan 1 2014
Event2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Orlando, FL, United States
Duration: May 27 2014May 30 2014

Publication series

Name2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings

Other

Other2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014
Country/TerritoryUnited States
CityOrlando, FL
Period5/27/145/30/14

ASJC Scopus subject areas

  • Aerospace Engineering

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