Huang, Sunan (National Universtiy of Singapore), Liao, Fang (National University of Singapore), Teo, Rodney (Temasek Laboratories, National University of Singapore)

AI-Based Fault-Tolerant Controller Design for Handling Both Actuator and Sensor Faults of Multirotors

Scheduled for presentation during the Regular Session "Reliability of UAS" (ThA3), Thursday, June 23, 2022, 10:50−11:10, Divona-1

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

Drones have been developed for more than two decades. They have become central to the functions of various civil aviation and military services. Commercial usage of drones continues to grow steadily. As the drones have been used widely in different areas, this raises a safety concern, i.e., all the multirotors have an increased risk of motor or sensor faults. The main contribution of this paper is to present a control scheme that can be used to handle both actuator and sensor faults. The proposed control uses neural networks to learn faulty behaviors and compensate the effects of faults in multi-rotors. Simulation studies have been given to illustrate the effectiveness of the proposed method.