Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators
In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed faul...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2019-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/9754981 |
| Summary: | In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed fault-tolerant control algorithm contains a baseline controller, the fault detection and isolation scheme, and the controller reconstruction module. A robust parameter identification method is designed to identify the torque and thrust generated by the actuators. The feasibility of isolating the fault for the redundant actuators is analyzed through mathematical proof. Through the analysis, the practical fault isolation algorithm is also proposed. Two typical aerial vehicles with redundant actuators, an eight-rotor aircraft and a hexa-rotor aircraft, are adopted in numerical simulations to verify the effectiveness of the proposed fault-tolerant control approach. |
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| ISSN: | 1687-5966 1687-5974 |