Robust fault diagnosis and fault-tolerant control for nonlinear quadrotor unmanned aerial vehicle system with unknown actuator faults

Robust Active Fault-tolerant Control for a Class of Uncertain Nonlinear Systems with Actuator Faults

For a class of uncertain nonlinear systems with actuator faults, robust active fault-tolerant control is investigated based on the adaptive observer, feedback linearization, and backstepping design theory. Time-varying faults and bounded uncertainty are simultaneously considered in the paper. An adaptive observer is firstly constructed to estimate the faults and then a backstepping-based active...

Robust Fault-Tolerant Tracking Control Scheme for Nonlinear Nonaffine-in-control Systems Against Actuator Faults

In this paper a theoretical framework of robust fault-tolerant control (FTC) for a class of nonlinear nonaffine-in-control systems is developed. In the framework, an observer-like auxiliary system is designed via adaptive and sliding mode techniques, which is only required to ensure that the output of the auxiliary system asymptotic tracking plant output. Based on the auxiliary system, a reconf...

Robust Takagi-Sugeno sensor fault tolerant control strategy for nonlinear system

A Fault-Tolerant Control Architecture for Unmanned Aerial Vehicles

projects: Software Enabled Control (SEC), SEC Renegade (a follow-on to the SEC project funded to apply SEC technologies to a full-scale rotorcraft), and Heterogeneous Urban Reconnaissance, Surveillance, and Target Acquisition Team (HURT). My deepest thanks are for Professor George J. Vachtsevanos, who advised me through the completion of this work. His critical input, guidance, and mentoring ha...

Fault Tolerant Control (FTC) Scheme for Unmanned Aerial Vehicles (UAV)

The main focus of this paper is fault-tolerant control systems (FTCSs) for unmanned aerial vehicles (UAVs). The goals are to develop an Automatic-Flight Control System (AFCS)[8], based on fault detection and isolation (FDI) and a reconfiguration mechanism to accommodate them [7]. This paper describes a design approach of Model Predictive Control (MPC) with a linear internal model to achieve a l...