Passive and active fault tolerant control of octorotor UAV using Second Order Sliding Mode control

Abdel Razzak Merheb, Franccois Bateman, Hassan Noura

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

15 Citations (Scopus)

Abstract

In this paper, Second Order Sliding Mode technique is used to develop a Passive Fault Tolerant Controller (PFTC) for octorotor UAVs. Super twisting algorithm is applied to form the discontinuous part of the controller. Optimal controller gains are found using Ecological Systems Algorithm, a bio-inspired optimization algorithm made to search within the stability region of the controller. An Active Fault Tolerant Controller (AFTC) version of the controller is designed using Pseudo-Inverse and Dynamic control re-allocation methods. SIMULINK based simulation results show the effectiveness of the proposed controllers which exceed the performance of First Order Sliding Mode active fault tolerant controller.

Original languageEnglish
Title of host publication2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1907-1912
Number of pages6
ISBN (Print)9781479977871
DOIs
Publication statusPublished - Nov 4 2015
EventIEEE Conference on Control and Applications, CCA 2015 - Sydney, Australia
Duration: Sep 21 2015Sep 23 2015

Other

OtherIEEE Conference on Control and Applications, CCA 2015
Country/TerritoryAustralia
CitySydney
Period9/21/159/23/15

ASJC Scopus subject areas

  • Control and Systems Engineering

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