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MPC-based FTC with FDD against Actuator Faults of UAVs
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논문 기본 정보

Type
Proceeding
Author
Bin Yu (Concordia University) Youmin Zhang (Concordia University) Yaohong Qu (Northwestern Polytechnical University)
Journal
Institute of Control, Robotics and Systems 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2015
Published
2015.10
Pages
225 - 230 (6page)

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MPC-based FTC with FDD against Actuator Faults of UAVs
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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 faulttolerant 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.
#Fault-tolerant Control #Model Predictive Control #Fault Detection and Diagnosis #SAKF #UAV

Contents

Abstract
1. INTRODUCTION
2. MODELING THE QBALL-X4 AND ACTUATOR FAULTS
3. FAULT-TOLERANT CONTROL DESIGN USING MODEL PREDICTIVE CONTROL
4. SIMULATION TEST RESULTS AND EVALUATION
5. CONCLUSION
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UCI(KEPA) : I410-ECN-0101-2016-569-001910904