TY - GEN
T1 - MPC-based FTC with FDD against actuator faults of UAVs
AU - Yu, Bin
AU - Zhang, Youmin
AU - Qu, Yaohong
N1 - Publisher Copyright:
© 2015 Institute of Control, Robotics and Systems - ICROS.
PY - 2015/12/23
Y1 - 2015/12/23
N2 - The increasing development of unmanned aerial vehicles (UAVs) and the requirements of high autonomy and safety levels require that the controller of UAVs should possess fault-tolerant/reconfigurable function to accommodate unpredicted situations such as actuator faults, sensor faults, or aircraft damage. This paper addresses the partial loss of control effectiveness (LOE) of actuators in a quadrotor UAV using model predictive control (MPC) with terminal constraints, which allows to track a reference command even if in the presence of actuator faults. The proposed fault-tolerant control system (FTCS) adopts MPC technique to design fault-tolerant controller and state-augmented Kalman filter (SAKF) to achieve fault detection and diagnosis (FDD) function. Simulation results based on a quadrotor UAV demonstrate that the proposed fault-tolerant controller has a good performance in accommodating actuator faults.
AB - The increasing development of unmanned aerial vehicles (UAVs) and the requirements of high autonomy and safety levels require that the controller of UAVs should possess fault-tolerant/reconfigurable function to accommodate unpredicted situations such as actuator faults, sensor faults, or aircraft damage. This paper addresses the partial loss of control effectiveness (LOE) of actuators in a quadrotor UAV using model predictive control (MPC) with terminal constraints, which allows to track a reference command even if in the presence of actuator faults. The proposed fault-tolerant control system (FTCS) adopts MPC technique to design fault-tolerant controller and state-augmented Kalman filter (SAKF) to achieve fault detection and diagnosis (FDD) function. Simulation results based on a quadrotor UAV demonstrate that the proposed fault-tolerant controller has a good performance in accommodating actuator faults.
KW - Fault Detection and Diagnosis
KW - Fault-tolerant Control
KW - Model Predictive Control
KW - SAKF
KW - UAV
UR - http://www.scopus.com/inward/record.url?scp=84966318875&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2015.7364911
DO - 10.1109/ICCAS.2015.7364911
M3 - 会议稿件
AN - SCOPUS:84966318875
T3 - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
SP - 225
EP - 230
BT - ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Control, Automation and Systems, ICCAS 2015
Y2 - 13 October 2015 through 16 October 2015
ER -