Active versus passive fault-tolerant control of a redundant multirotor UAV. (26th November 2019)

• Record Type: Journal Article
• Authors: Saied, M.; Lussier, B.; Fantoni, I.; Shraim, H.; Francis, C.
• Is Part Of: Aeronautical journal. Volume 124:Number 1273(2020)
• Page Start: 385
• Page End: 408
• Publication Date: 2019-11-26
• Subjects: Fault Tolerant Control, -- Fault Diagnosis, -- unmanned aerial vehicles; Aeronautics -- Periodicals; 629.1305
• DOI: 10.1017/aer.2019.149
• Languages: English
• ISSNs: 0001-9240

Abstract

ABSTRACT: This paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.