ICUAS'17 Paper Abstract

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Paper FrA2.2

Nguyen, Duc-Tien (Ecole Polytechnique de Montreal), Saussie, David (Ecole Polytechnique de Montreal), Saydy, Lahcen (Ecole Polytechnique of Montreal)

Quaternion-Based Robust Fault-Tolerant Control of a Quadrotor UAV

Scheduled for presentation during the "Aviation and Risk Analysis" (FrA2), Friday, June 16, 2017, 10:20−10:40, Salon AB

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Manned/Unmanned Aviation, Fail-Safe Systems, Autonomy

Abstract

This paper deals with the active fault-tolerant control (FTC) of a quadrotor in the presence of actuator faults. Generally, it is assumed that the fault has been detected, isolated or identified, and then, one proceeds with a reconfigurable controller. This paper presents a complete active fault-tolerant control system with both fault detection and diagnosis (FDD), and FTC. The proposed FTC design is based on gain-scheduling control in the framework of structured H-inf synthesis. The scheduled gains are parameterized as polynomial functions of the loss of control effectiveness of the quadrotor actuators, estimated by a two-stage Kalman filter. Then, the MATLAB-based function systune tunes the polynomial coefficients to meet the robustness and performance requirement. In comparison with other FTC systems that use switching mechanisms, this smooth self-scheduled controller allows one to avoid undesirable transient phenomena during the controller reconfiguration process. Numerical simulations performed on an underactuated six degrees of freedom quadrotor nonlinear model show the effectiveness of the proposed FTC in accommodating different levels of actuator faults. To avoid singularities associated with Euler angles, unit quaternion representations are used to describe the rotational motion of the quadrotor.

 

 

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