Cen et al., 2014 - Google Patents

Robust fault diagnosis for quadrotor UAVs using adaptive Thau observer

Cen et al., 2014

View PDF
Document ID
10015307695619838502
Author
Cen Z
Noura H
Susilo T
Younes Y
Publication year
Publication venue
Journal of Intelligent & Robotic Systems

External Links

Snippet

Abstract A robust Fault Diagnosis (FD) scheme for a real quadrotor Unmanned Aerial Vehicle (UAV) is proposed in this paper. Firstly, a novel Adaptive Thau observer (ATO) is developed to estimate the quadrotor system states and build a set of offset residuals to …
Continue reading at www.researchgate.net (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0044—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0243—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults model based detection method, e.g. first-principles knowledge model
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
    • G05D1/0077—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements using redundant signals or controls

Similar Documents

Publication Publication Date Title
Cen et al. Robust fault diagnosis for quadrotor UAVs using adaptive Thau observer
Ma et al. Nonlinear high-gain observer-based diagnosis and compensation for actuator and sensor faults in a quadrotor unmanned aerial vehicle
Zhou et al. Fixed-time observer based safety control for a quadrotor UAV
Zhong et al. Robust actuator fault detection and diagnosis for a quadrotor UAV with external disturbances
Chen et al. Robust backstepping sliding-mode control and observer-based fault estimation for a quadrotor UAV
Zhang et al. Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed
Hasan et al. Model-based actuator fault diagnosis in multirotor UAVs
Dong et al. Adaptive disturbance observer‐based finite‐time continuous fault‐tolerant control for reentry RLV
Hao et al. Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology
Cen et al. Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs
Xu et al. Decentralized asymptotic fault tolerant control of near space vehicle with high order actuator dynamics
Caliskan et al. Active fault-tolerant control of UAV dynamics against sensor-actuator failures
Zhaohui et al. Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer
Zuo et al. UIO based sensor fault diagnosis and compensation for quadrotor UAV
Hasan et al. Model-based fail-safe module for autonomous multirotor UAVs with parachute systems
Ren Observer design for actuator failure of a quadrotor
Gao et al. EKF‐Based Actuator Fault Detection and Diagnosis Method for Tilt‐Rotor Unmanned Aerial Vehicles
Skriver et al. Adaptive extended Kalman filter for actuator fault diagnosis
Hasan Adaptive exogenous kalman filter for actuator fault diagnosis in robotics and autonomous systems
Hamadi et al. Observer-based super twisting controller robust to wind perturbation for multirotor uav
Liu et al. Fault diagnosis and accommodation for multi-actuator faults of a fixed-wing unmanned aerial vehicle
Souanef ℒ 1 Adaptive Output Feedback Control of Small Unmanned Aerial Vehicles
Asadi Actuator Fault detection, identification, and control of a multirotor air vehicle using residual generation and parameter estimation approaches
Alwi et al. Fault tolerant control and fault detection and isolation
Maqsood et al. Novel sensor fault detection and isolation for an unmanned aerial vehicle