Passive Fault-Tolerant Control of an Octorotor using Super-Twisting Algorithm: Theory and Experiments

被引：0

作者：

Saied, Majd ^{[1
,2
]}

Lussier, Benjamin ^{[1
]}

Fantoni, Isabelle ^{[1
]}

Shraim, Hassan ^{[2
]}

Francis, Clovis ^{[2
]}

机构：

[1] Univ Technol Compiegne, Sorbonne Univ, CNRS, UMR Heudiasyc 7253, F-60200 Compiegne, France

[2] Univ Libanaise, Fac Genie, CRSI, Beirut, Lebanon

来源：

2016 3RD CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL) | 2016年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the design and implementation of a Passive Fault-Tolerant Control (PFTC) strategy for a coaxial counter-rotating octorotor based on the Super-Twisting algorithm. This second-order sliding mode technique ensures robustness with respect to uncertainties and disturbances and is also able to deal directly with faults and failures by compensating the actuators loss in the system without prior knowledge on the fault, its location and its severity. The effectiveness of this PFTC is illustrated through real experimental application to a coaxial octorotor, where two motors failures are considered.

引用

页码：361 / 366

页数：6

共 50 条

[21] Super-Twisting Algorithm devoted to Control The Greenhouse System [J].

Gouadria, Faten ;

Sbita, Lassaad ;

Sigrimis, Nick .

2017 INTERNATIONAL CONFERENCE ON GREEN ENERGY & CONVERSION SYSTEMS (GECS), 2017,

[22] Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot [J].

Mazare, Mahmood ;

Taghizadeh, Mostafa ;

Ghaf-Ghanbari, Pegah .

JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING, 2020, 42 (08)

[23] Hybrid Fault-Tolerant Control for Air-Fuel Ratio Control System of Internal Combustion Engine Using Fuzzy Logic and Super-Twisting Sliding Mode Control Techniques [J].

Alsuwian, Turki ;

Riaz, Umar ;

Amin, Arslan Ahmed ;

Qadir, Muhammad Bilal ;

Almasabi, Saleh ;

Jalalah, Mohammed .

ENERGIES, 2022, 15 (19)

[24] Fault Tolerant Control for Multiple Successive Failures in an Octorotor: Architecture and Experiments [J].

Saied, Majd ;

Lussier, Benjamin ;

Fantoni, Isabelle ;

Francis, Clovis ;

Shraim, Hassan .

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2015, :40-45

[25] A Passive Fault Tolerance Strategy for Super-Twisting Algorithm-Based Sliding Mode Control With Barrier Function for Quadrotor UAVs [J].

Wang, Yujuan ;

Ji, Congmin .

IEEE ACCESS, 2025, 13 :115321-115330

[26] Robust Current Sensor Fault-Tolerant Controller Using Third Order Super-Twisting Sliding Mode Observer and Controller for Induction Motors [J].

Tarkhani, Rakia ;

Krim, Saber ;

Mansouri, Majdi ;

Mimouni, Mouhamed Faouzi .

IEEE ACCESS, 2025, 13 :52841-52862

[27] Passive and Active Fault Tolerant Control of Octorotor UAV Using Second Order Sliding Mode Control [J].

Merheb, Abdel-Razzak ;

Bateman, Francois ;

Noura, Hassan .

2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), 2015, :1907-1912

[28] Sliding mode fault-tolerant control of an octorotor using linear parameter varying-based schemes [J].

Alwi, Halim ;

Edwards, Christopher .

IET CONTROL THEORY AND APPLICATIONS, 2015, 9 (04) :618-636

[29] Discretization of the Super-Twisting Algorithm Using Variational Integrators [J].

Weissenberger, Florian ;

Watermann, Lars ;

Koch, Stefan ;

Reichhartinger, Markus ;

Hettiger, Christina ;

Eisenzopf, Lukas ;

Kumari, Kiran ;

Reger, Johann ;

Horn, Martin .

2022 IEEE 61ST CONFERENCE ON DECISION AND CONTROL (CDC), 2022, :4307-4312

[30] Conditioned Super-Twisting Algorithm for systems with saturated control action [J].

Seeber, Richard ;

Reichhartinger, Markus .

AUTOMATICA, 2020, 116

← 1 2 3 4 5 →