Abstract
This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios.
Highlights
Unmanned quadrotor helicopters have recently been widely used by commercial industries and academic communities due to their vertical take-off and landing capability, low cost, and great maneuverability
In the study by Zhong et al [9], a two-stage extended Kalman filter is developed for detecting, isolating, and identifying inertial measurement unit (IMU) sensor faults of an unmanned quadrotor helicopter, while mitigating the impact of model uncertainties
In the study by Matus-Vargas et al [10], a fault-tolerant control scheme for a multirotor with altitude sensor faults caused by the ground effect is presented and validated by simulations and experiments
Summary
Unmanned quadrotor helicopters have recently been widely used by commercial industries and academic communities due to their vertical take-off and landing capability, low cost, and great maneuverability. In the study by Zhong et al [26], an adaptive two-stage extended Kalman filter is proposed for sensor fault detection and diagnosis of a quadrotor helicopter based on its kinematic model. In the study by Qin et al [34], a fault diagnosis unit is designed to estimate sensor faults and synthesized with a two-level PID controller to constitute an active FTC scheme for a quadrotor helicopter. In an attempt to solve the aforementioned difficulties for improving system robustness, this paper presents a novel observer-based fault diagnosis and FTC scheme for quadrotor helicopters against sensor faults and disturbances. (1) In the face of sensor faults and external disturbances, an active FTC scheme is proposed to simultaneously accommodate them in terms of both fault diagnosis and fault-tolerant control based on integral slidingmode control, sliding mode observer, and disturbance observer.
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