ACTIVE FAULT TOLERANT CONTROL OF A QUADROTOR UAV BASED ON GAIN-SCHEDULED PID CONTROL

被引：0

作者：

Sadeghzadeh, Iman ^{[1
]}

Mehta, Ankit ^{[1
]}

Chamseddine, Abbas ^{[1
]}

Zhang, Youmin ^{[1
]}

机构：

[1] Concordia Univ, Montreal, PQ H3G 1M8, Canada

来源：

2012 25TH IEEE CANADIAN CONFERENCE ON ELECTRICAL & COMPUTER ENGINEERING (CCECE) | 2012年

关键词：

Gain-Scheduled PID (GS-PID); Fault-Tolerant Control (FTC); Unmanned Aerial Vehicle (UAV); Autonomous flight;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this paper, an Active Fault-Tolerant Control (AFTC) technique is developed and applied to an unmanned quadrotor helicopter UAV (Unmanned Aerial Vehicle, known also as Qball-X4) with 6 degrees of freedom based on a Gain-Scheduled Proportional-Integral Derivative (GS-PID) control technique. For implementing such an AFTC system, a Fault-Detection and Diagnosis (FDD) block is essential and implemented to detect and identify the actuator fault. The FDD block is implemented based on the OptiTrack visual feedback for providing information needed by GS-PID to switch from one set of pre-tuned controller gains for normal (pre-fault) condition to another set of controller gains tuned for faulty (post-fault) conditions in the presence of an actuator fault in the Qball-X4 UAV. Finally, experimental testing results are presented to demonstrate the effectiveness of the proposed active fault-tolerant control strategy based on the GS-PID control technique.

引用

页数：4

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