BFA fuzzy logic based control allocation for fault-tolerant control of multirotor UAVs. (26th July 2019)

• Record Type: Journal Article
• Authors: Saied, M.; Knaiber, M.; Mazeh, H.; Shraim, H.; Francis, C.
• Is Part Of: Aeronautical journal. Volume 123:Number 1267(2019)
• Page Start: 1356
• Page End: 1373
• Publication Date: 2019-07-26
• Subjects: Unmanned Aerial Vehicles, -- Fault Tolerant Control, -- Fuzzy Logic; Aeronautics -- Periodicals; 629.1305
• DOI: 10.1017/aer.2019.58
• Languages: English
• ISSNs: 0001-9240

Abstract

ABSTRACT: This paper deals with the problem of fault-tolerant control (FTC) for redundant multirotor unmanned aerial vehicles (UAVs) subject to actuators failures. A fuzzy logic approach is used to solve the constrained control allocation problem by adjusting the components of the multiplexing vector once a motor failure is detected. This fuzzy logic allocation problem is tuned using the Bacterial Foraging Algorithm (BFA), a powerful bio-inspired optimisation technique. The effectiveness of this approach is illustrated through real experimental application to a hexarotor UAV, where up to two motors failures are considered.