Hierarchical Fault-Tolerant Control Of A Quadrotor Based On Fault Severity
2016 3RD CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL)(2016)
Abstract
In this paper, a hierarchical Fault Tolerant Controller (FTC) for quadrotor aircrafts is developed. The proposed controller switches between suitable controllers according to the actuator fault severity. Low amplitude faults are tolerated using the inherent robustness of a regular Sliding Mode Controller (SMC). When fault magnitude increases, an Active FTC is activated. This controller uses the fault estimates provided by an Extended Kalman Filter (EKF) to recover the control loss. When a fault magnitude rises to dangerous values, an emergency controller is activated and the quadrotor continues its mission as a trirotor. Simulation results emphasize the robustness of the proposed controller in real environments where measurement noise and actuator faults affect severely the quadrotor.
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Key words
hierarchical fault-tolerant control,hierarchical FTC,quadrotor aircraft,actuator fault severity,sliding mode controller,SMC robustness,fault estimation,extended Kalman filter,EKF,emergency controller activation
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