DOI QR코드

DOI QR Code

Fault Tolerant Control of Hexacopter for Actuator Faults using Time Delay Control Method

  • Lee, Jangho (Flight Control Team, Korea Aerospace Research Institute) ;
  • Choi, Hyoung Sik (Flight Control Team, Korea Aerospace Research Institute) ;
  • Shim, Hyunchul (Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2015.02.06
  • Accepted : 2016.01.14
  • Published : 2016.03.30

Abstract

A novel attitude tacking control method using Time Delay Control (TDC) scheme is developed to provide robust controllability of a rigid hexacopter in case of single or multiple rotor faults. When the TDC scheme is developed, the rotor faults such as the abrupt and/or incipient rotor faults are considered as model uncertainties. The kinematics, modeling of rigid dynamics of hexacopter, and design of stability and controllability augmentation system (SCAS) are addressed rigorously in this paper. In order to compare the developed control scheme to a conventional control method, a nonlinear numerical simulation has been performed and the attitude tracking performance has been compared between the two methods considering the single and multiple rotor faults cases. The developed control scheme shows superior stability and robust controllability of a hexacopter that is subjected to one or multiple rotor faults and external disturbance, i.e., wind shear, gust, and turbulence.

Keywords

References

  1. Sadeghzadeh, I., Mehta, A., Chamseddine, A. and Zhang, Y., "Active Fault Tolerant Control of a Quadrotor UAV based on Gainscheduled PID Control", proceedings of the 2012 25th IEEE Canadian Conference on Electrical and Computer Engineering (CCECE), Montreal, QC, 2012.
  2. Segui-Gasco, P., Al-Rihani, Y., Shin, H. S. and Savvaris, A., "A Novel Actuation Concept for a Multi Rotor UAV", Journal of Intelligence & Robotic Systems, Vol. 74, Issue 1, 2014, pp. 173-191. https://doi.org/10.1007/s10846-013-9987-3
  3. Zhang, Y. M. and Jiang, J., "Active fault-tolerant control system against partial actuator failures", IEE Proceedings of Control Theory Applications, Vol. 149, No. 1, 2002, pp. 95-104.
  4. Garus. J., "Optimization of Thrust Allocation in the Propulsion System of an Underwater vehicle", Int. J. Appl. Math. Comput. Sci., Vol. 14, No. 4, 2002, pp. 461-467.
  5. Patton, R. J., "Fault Tolerant Control - The 1997 situations(survey)", IFAC Safe Process '97, Hull, UK, Vol. 2, 1997, pp. 1033-1055.
  6. Liu, H., "Robust Optimal Attitude Control of Multirotors", Proc. of Australasian Conference on Robotics and Automation, Sydney Australia, 2013.
  7. Xiao, N., Hu, Q., Singhose, W. and Huo, X., "Reaction Wheel Fault Compensation and Disturbance Rejection for Spacecraft Attitude Tracking", Journal of Guidance, Control, and Dynamics, Vol. 36, No. 6, 2013, pp. 1565-1575. https://doi.org/10.2514/1.59839
  8. Li, Z., Ma, L. and Khorasani, K., "A Dynamic Neural Network-Based Reaction Wheel Fault Diagnosis for Satellites", International Joint Conference on Neural Networks, IEEE Publications, Piscataway, NJ, 2006, pp. 3714-3721.
  9. Jiang, T. and Khorasani, K., "A Fault Detection, Isolation and Reconstruction Strategy for a Satellite's Attitude Control Subsystem with Redundant Reaction Wheels", IEEE International Conference on Systems, Man and Cybernetics, IEEE Publications, Piscataway, NJ, 2007, pp. 1644-1650.
  10. Chen, B. L. and Nagarajaiah, S., "Linear-Matrix-Inequality-Based Robust Fault Detection and Isolation Using The Eigenstructure Assignment Method", Journal of Guidance, Control, and Dynamics, Vol. 30, No. 6, 2007, pp. 1831-1835. https://doi.org/10.2514/1.27417
  11. Shin, D. and Kim, Y., "Nonlinear Discrete-Time Reconfigurable Flight Control Systems Using Neural Networks", IEEE Transactions on Control Systems Technology, Vol. 14, No. 3, 2006, pp. 408-422. https://doi.org/10.1109/TCST.2005.863662
  12. Shin, D. and Kim, Y., "Reconfigurable Flight Control System Design Using Adaptive Neural Networks", IEEE Transactions on Control Systems Technology, Vol. 12, No. 1, 2004, pp. 87-100. https://doi.org/10.1109/TCST.2003.821957
  13. Kim, P., Rigid Body Dynamics for Beginners, Charleston, SC, 2013.
  14. Sastry, S., A mathematical introduction to robotic manipulation, Boca Raton. FL, 1994.
  15. Chriette, A., "Contribution a la commande et a la modelisation des helicopters, Asservissement visual et commande adaptive", Phd Thesis, 2001.
  16. Hamel, T., Mahony, R., Lozano, R. and Ostrowski, J., "Dynamic modelling and configuration stabilization for an X4-flyer", Proc. Int. Federation of Automatic Control Symp. (IFAC), 2002, pp. 6. (Modeling)
  17. Bouabdallah, S., Murrieri, P. and Siegwart, R., "Design and control of an indoor micro quadrotor", Proc. IEEE Int. Conf. Robotics and Automation (ICRA), Vol. 5, 2004, pp. 4393-4398. (Modeling)
  18. Rachinayani, P. K., "Robust Fault-Tolerant Control for Aircraft Systems", Jawaharlal Nehru Technological University, May. 2002.
  19. Choi, H. S., Lee, S., Lee, J., Kim, E. T. and Shim, H., "Aircraft Longitudinal Auto-Landing Guidance Law Using Time Delay Control Scheme", Transactions of the Japan Society for Aeronautical and Space Sciences, Vol. 53, No. 181, 2010, pp. 207-214. https://doi.org/10.2322/tjsass.53.207
  20. Lee, J., Choi, H. S., Lee, S., Kim, E. T. and Shin, D., "Time Delay Fault Tolerant Controller for Actuator Failures during Aircraft Autolanding", Transactions of the Japan Society for Aeronautical and Space Sciences, Vol. 55, No. 3, 2012, pp. 175-182. https://doi.org/10.2322/tjsass.55.175
  21. Youcef-Toumi K. and Ito, O., "A Time Delay Controller for Systems with Unknown Dynamics", ASME, Vol. 112, 1990, pp. 133-142.
  22. http://rt.com/news/167936-russia-drones-pizza-delivery

Cited by

  1. Development of Hardware-in-the-Loop Simulation Based on Gazebo and Pixhawk for Unmanned Aerial Vehicles vol.19, pp.1, 2018, https://doi.org/10.1007/s42405-018-0012-8