Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults

• Autorzy: Kantue Paulin , Pedro Jimoh O.

Identyfikatory

DOI

10.34768/amcs-2022-0042

• Języki publikacji: EN

Abstrakty

EN

An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach. The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one. A time-difference-of-arrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust against incipient actuator faults during straight and level flight and tight turns.

Słowa kluczowe

EN

fault tolerant control; quadrocopter; incipient actuator fault; radial basis function; neural network

PL

sterowanie tolerujące uszkodzenia; kwadrokopter; radialna funkcja bazowa; sieć neuronowa

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2022
• Tom: Vol. 32, no. 4
• Strony: 601--617
• Opis fizyczny: Bibliogr. 46 poz., rys., wykr.

Twórcy

autor

Kantue Paulin

• Research and Development Group, Uav4africa (Pty) Ltd, 1 Cadogan Rd, Johannesburg, 2090, South Africa

autor

Pedro Jimoh O.

• School of Mechanical, Industrial and Aeronautical Engineering, University of the Witwatersrand, 1 Jan Smuts Ave, Johannesburg, WITS2050, South Africa

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Uwagi

PL

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023)