Actuator fault diagnosis in an octorotor UAV using sliding modes technique: Theory and experimentation
作者： Majd Saied , Hassan Shraim , Clovis Francis , Isabelle Fantoni , Benjamin Lussier
关键词: Coaxial 、 Actuator 、 Observer (special relativity) 、 Engineering 、 Torque 、 MATLAB 、 Actuator fault 、 Control theory 、 Control system 、 Control engineering
摘要: This paper presents a fault diagnosis strategy for actuators faults in an octorotor unmanned aerial vehicle (UAV) using sliding modes techniques. First, system states are estimated second order sliding-mode observer (SOSMO) based on the modified super-twisting algorithm. Second, by considering control as unknown input. After convergence of observer, equivalent output injection is used to estimate input and thus identify losses actuators. The effectiveness this approach illustrated numerical simulations Matlab/Simulink, also real experimental application coaxial UAV.
archives-ouvertes.fr
sci-hub.se 参考文章(14)
Arnaud Koehl, Modélisation, observation et commande d'un drone miniature à birotor coaxial Université de Lorraine. ,(2012)
Samir Bouabdallah, Design and control of quadrotors with application to autonomous flying EPFL. ,(2007) , 10.5075/EPFL-THESIS-3727
Majd Saied, Benjamin Lussier, Isabelle Fantoni, Clovis Francis, Hassan Shraim, Guillaume Sanahuja, Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor international conference on robotics and automation. pp. 5266- 5271 ,(2015) , 10.1109/ICRA.2015.7139933
Halim Alwi, Christopher Edwards, Fault tolerant control of an octorotor using LPV based sliding mode control allocation american control conference. pp. 6505- 6510 ,(2013) , 10.1109/ACC.2013.6580859
J. Davila, L. Fridman, A. Poznyak, Observation and identification of mechanical systems via second order sliding modes International Journal of Control. ,vol. 79, pp. 1251- 1262 ,(2006) , 10.1080/00207170600801635
M. Hadi Amoozgar, Abbas Chamseddine, Youmin Zhang, Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter Journal of Intelligent and Robotic Systems. ,vol. 70, pp. 107- 117 ,(2013) , 10.1007/S10846-012-9757-7
Zhaohui Cen, Hassan Noura, Tri Bagus Susilo, Younes Al Younes, Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer Journal of Intelligent and Robotic Systems. ,vol. 73, pp. 573- 588 ,(2014) , 10.1007/S10846-013-9921-8
Mark W. Mueller, Raffaello D'Andrea, Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers international conference on robotics and automation. pp. 45- 52 ,(2014) , 10.1109/ICRA.2014.6906588
Aryeh Marks, James F Whidborne, Ikuo Yamamoto, Control allocation for fault tolerant control of a VTOL octorotor ukacc international conference on control. pp. 357- 362 ,(2012) , 10.1109/CONTROL.2012.6334656
Luca Massimiliano Capisani, Antonella Ferrara, Alejandra Ferreira, Leonid Fridman, Higher Order Sliding Mode observers for actuator faults Diagnosis in robot manipulators international symposium on industrial electronics. pp. 2103- 2108 ,(2010) , 10.1109/ISIE.2010.5637768