An Active Fault-tolerant Control Method for a Low-cost and Fixed-wing UAV

被引：0

作者：

Zhang, Qi ^{[1
]}

Xiang, Junhua ^{[1
]}

Zhang, Yulin ^{[1
]}

机构：

[1] Natl Univ Def Technol, Coll Aerosp Sci & Engn, Changsha, Hunan, Peoples R China

来源：

PROCEEDINGS OF 2016 IEEE ADVANCED INFORMATION MANAGEMENT, COMMUNICATES, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IMCEC 2016) | 2016年

关键词：

Fault Tolerant Control; Fault Detection and Isolation; Control Reconfiguration; UAV;

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：

An active Fault Tolerant Control (FTC) technique for a low-cost and fixed-wing Unmanned Aerial Vehicle (UAV) subjected to several scenarios of sensor and actuator faults is presented in the paper. To implement the FTC system, a Fault Detection and Isolation (FDI) block based on Extended KaIman Filter (EKF) is used to detect and identify various sensor and actuator faults, and a control reconfiguration system is applied to carry out corresponding recoveryactions according to the messages provided by the FDI module when the UAV breaks down. Simulation results showed that the proposed method is satisfied for the UAV with sensor or actuator faults.

引用

页码：173 / 178

页数：6

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