Hierarchical fault-tolerant control of a quadrotor based on fault severity

Abdel Razzak Merheb, Francois Bateman, Hassan Noura, Younes Al Younes

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

1 Citation (Scopus)

Abstract

In this paper, a hierarchical Fault Tolerant Controller (FTC) for quadrotor aircrafts is developed. The proposed controller switches between suitable controllers according to the actuator fault severity. Low amplitude faults are tolerated using the inherent robustness of a regular Sliding Mode Controller (SMC). When fault magnitude increases, an Active FTC is activated. This controller uses the fault estimates provided by an Extended Kalman Filter (EKF) to recover the control loss. When a fault magnitude rises to dangerous values, an emergency controller is activated and the quadrotor continues its mission as a trirotor. Simulation results emphasize the robustness of the proposed controller in real environments where measurement noise and actuator faults affect severely the quadrotor.

Original languageEnglish
Title of host publication2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
EditorsRamon Sarrate
PublisherIEEE Computer Society
Pages666-671
Number of pages6
ISBN (Electronic)9781509006588
DOIs
Publication statusPublished - Nov 8 2016
Externally publishedYes
Event3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Barcelona, Spain
Duration: Sep 7 2016Sep 9 2016

Publication series

NameConference on Control and Fault-Tolerant Systems, SysTol
Volume2016-November
ISSN (Print)2162-1195
ISSN (Electronic)2162-1209

Other

Other3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016
Country/TerritorySpain
CityBarcelona
Period9/7/169/9/16

ASJC Scopus subject areas

  • Computer Science Applications
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

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