Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

Cen, Z. ; Noura, H. ; Younes, Y. A.

International Journal of Applied Mathematics and Computer Science, Tome 25 (2015) no. 1, pp. 159-174.

Résumé

A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out to show the performance and effectiveness of the proposed method.

Détail

Keywords: systematic fault tolerant control, fault estimation, adaptive Thau observer, fault tolerant capacity boundaries, time varying fault
Mots-clés : sterowanie tolerujące uszkodzenia, estymacja błędu

Bibliographie

[1] Berbra, C., Lesecq, S. and Martinez, J. (2008). A multi-observer switching strategy for fault-tolerant control of a quadrotor helicopter, 16th Mediterranean Conference on Control and Automation, 2008, Ajaccio, France, pp. 1094–1099.

[2] Bouadi, H., Bouchoucha, M. and Tadjine, M. (2007). Sliding mode control based on backstepping approach for an UAV type-quadrotor, International Journal of Mechanical, Aerospace, Industrial and Mechatronics Engineering 1(2): 22–27.

[3] Boussaid, B., Aubrun, C., Abdelkrim, M.N. and Ben Gayed, M.K. (2011). Performance evaluation based fault tolerant control with actuator saturation avoidance, International Journal of Applied Mathematics and Computer Science 21(3): 457–466, DOI: 10.2478/v10006-011-0034-x.

[4] Chamseddine, A., Zhang, Y. and Rabbath, C.A. (2012). Trajectory planning and re-planning for fault tolerant formation flight control of quadrotor unmanned aerial vehicles, American Control Conference (ACC), 2012, Montreal, QC, Canada, pp. 3291–3296.

[5] Chen, J. and Patton, R.J. (1999). Robust Model-based Fault Diagnosis for Dynamic Systems, Kluwer, Boston, MA.

[6] Du, M., Gandhi, R. and Mhaskar, P. (2011). An integrated fault detection and isolation and safe-parking framework for networked process systems, Industrial Engineering Chemistry Research 50(9): 5667–5679.

[7] Du, M. and Mhaskar, P. (2011). A safe-parking and safe-switching framework for fault-tolerant control of switched nonlinear systems, International Journal of Control 84(1): 9–23.

[8] Edwards, C., Alwi, H. and Tan, C.P. (2012). Sliding mode methods for fault detection and fault tolerant control with application to aerospace systems, International Journal of Applied Mathematics and Computer Science 22(1): 109–124, DOI: 10.2478/v10006-012-0008-7.

[9] Fang, S. and Blanke, M. (2011). Fault monitoring and fault recovery control for position-moored vessels, International Journal of Applied Mathematics and Computer Science 21(3): 467–478, DOI: 10.2478/v10006-011-0035-9.

[10] Freddi, A., Longhi, S. and Monteriu, A. (2009). A model-based fault diagnosis system for a mini-quadrotor, 7th Workshop on Advanced Control and Diagnosis, Bari, Italy, pp. 19–20.

[11] Freddi, A., Longhi, S. and Monteriù, A. (2012). A diagnostic Thau observer for a class of unmanned vehicles, Journal of Intelligent Robotic Systems 67(1): 61–73.

[12] Gandhi, R. and Mhaskar, P. (2008). Safe-parking of nonlinear process systems, Computers Chemical Engineering 32(9): 2113–2122.

[13] Gandhi, R. and Mhaskar, P. (2009). A safe-parking framework for plant-wide fault-tolerant control, Chemical Engineering Science 64(13): 3060–3071.

[14] Izadi, H.A., Zhang, Y. and Gordon, B.W. (2011). Fault tolerant model predictive control of quad-rotor helicopters with actuator fault estimation, World Congress, Milan, Italy, Vol. 18, pp. 6343–6348.

[15] Jiang, B. and Chowdhury, F.N. (2005). Fault estimation and accommodation for linear MIMO discrete-time systems, IEEE Transactions on Control Systems Technology 13(3): 493–499.

[16] Jiang, B., Staroswiecki, M. and Cocquempot, V. (2006). Fault accommodation for nonlinear dynamic systems, IEEE Transactions on Automatic Control 51(9): 1578.

[17] Jiang, B., Zhang, K. and Shi, P. (2011). Integrated fault estimation and accommodation design for discrete-time Takagi–Sugeno fuzzy systems with actuator faults, IEEE Transactions on Fuzzy Systems 19(2): 291–304.

[18] Khebbache, H., Sait, B. and Yacef, F. (2012). Robust stabilization of a quadrotor aerial vehicle in presence of sensor failures, International Journal of Control Theory and Computer Modeling 2(2): 39–52.

[19] Khelassi, A., Theilliol, D. and Weber, P. (2011). Reconfigurability analysis for reliable fault-tolerant control design, International Journal of Applied Mathematics and Computer Science 21(3): 431–439, DOI: 10.2478/v10006-011-0032-z.

[20] Li, T., Zhang, Y. and Gordon, B. (2011). Fault tolerant control applied to a quadrotor unmanned helicopter, Proceedings of the 7th ASME/IEEE International Conference on Mechatronics Embedded Systems Applications, Washington, DC, USA, pp.1013–1022.

[21] Mahmood, M., Gandhi, R. and Mhaskar, P. (2008). Safe-parking of nonlinear process systems: Handling uncertainty and unavailability of measurements, Chemical Engineering Science 63(22): 5434–5446.

[22] Meng, L., Jiang, B. and Xu, Y. (2009). Observer-based robust fault diagnosis for a class of uncertain nonlinear systems, Chinese Control and Decision Conference, 2009, CCDC’09, Guilin, China, pp. 885–889.

[23] Montes de Oca, S., Puig, V., Witczak, M. and Dziekan, Ł. (2012). Fault-tolerant control strategy for actuator faults using LPV techniques: Application to a two degree of freedom helicopter, International Journal of Applied Mathematics and Computer Science 22(1): 161–171, DOI: 10.2478/v10006-012-0012-y.

[24] Pedro, J.O., Panday, A. and Dala, L. (2013). A nonlinear dynamic inversion-based neurocontroller for unmanned combat aerial vehicles during aerial refuelling, International Journal of Applied Mathematics and Computer Science 23(1): 75–90, DOI: 10.2478/amcs-2013-0007.

[25] Ranjbaran, M. and Khorasani, K. (2010). Fault recovery of an under-actuated quadrotor aerial vehicle, 49th IEEE Conference on Decision and Control (CDC), 2010, Atlanta, GA, USA, pp. 4385–4392.

[26] Sadeghzadeh, I., Mehta, A., Zhang, Y. and Rabbath, C.-A. (2011). Fault-tolerant trajectory tracking control of a quadrotor helicopter using gain-scheduled PID and model reference adaptive control, Annual Conference of the Prognostics and Health Management Society, Montreal, Canada, Vol. 2, pp. 1–10.

[27] Sharifi, F., Mirzaei, M., Gordon, B. W. and Zhang, Y. (2010). Fault tolerant control of a quadrotor UAV using sliding mode control, Conference on Control and Fault-Tolerant Systems (SysTol), 2010, Nice, France, pp. 239–244.

[28] Theilliol, D., Join, C. and Zhang, Y. (2008). Actuator fault tolerant control design based on a reconfigurable reference input, International Journal of Applied Mathematics and Computer Science 18(4): 553–560, DOI: 10.2478/v10006-008-0048-1.

[29] Yang, H., Jiang, B., Cocquempot, V. and Lu, L. (2012). Supervisory fault tolerant control with integrated fault detection and isolation: A switched system approach, International Journal of Applied Mathematics and Computer Science 22(1): 87–97, DOI: 10.2478/v10006-012-0006-9.

[30] Zhang, K., Jiang, B. and Shi, P. (2007). Adaptive observer-based fault diagnosis with application to satellite attitude control systems, Second International Conference on Innovative Computing, Information and Control, 2007, Kumamoto, Japan, pp. 508–508.

[31] Zhang, Y. and Chamseddine, A. (2012). Fault tolerant flight control techniques with application to a quadrotor UAV testbed, in T. Lombaerts (Ed.), Automatic Flight Control Systems—Latest Developments, InTech, Rijeka, pp. 119–150.

[32] Zhang, Y. and Jiang, J. (2003). Bibliographical review on reconfigurable fault-tolerant control systems, Proceedings of the 5th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes 2003, Washington, DC, USA, pp. 265–276.

[33] Zhang, Y. and Jiang, J. (2008). Bibliographical review on reconfigurable fault-tolerant control systems, Annual Reviews in Control 32(2): 229–252.

[34] Zhaohui, C. and Noura, H. (2013a). An adaptive Thau observer for estimating the time-varying LOE fault of quadrotor actuators, Conference on Control and Fault-Tolerant Systems (SysTol), 2013, Nice, France, pp. 468–473.

[35] Zhaohui, C. and Noura, H. (2013b). A composite fault tolerant control based on fault estimation for quadrotor UAVs, Conference on Industrial Electronics and Applications (ICIEA), 2013 8th, Melbourne, Australia, pp. 236–241.

[36] Zhaohui, C., Noura, H., Susilo, T.B. and Al Younes, Y. (2013a). Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer, 25th Chinese Control and Decision Conference (CCDC), 2013, Guiyang, China, pp. 2971–2975.

[37] Zhaohui, C., Noura, H., Susilo, T.B. and Al Younes, Y. (2013b). Robust fault diagnosis for quadrotor UAVs using adaptive Thau observer, Journal of Intelligent Robotic Systems 73(1–4): 1–16.

[38] Zhaohui, C., Noura, H. and Younes, Y.A. (2013c). Robust fault estimation on a real quadrotor UAV using optimized adaptive Thau observer, 2013 International Conference on Unmanned Aircraft Systems (ICUAS), Atlanta, GA, USA, pp. 550–556.