Reconfigurable control of an UAV against sensor/actuator failures

Fikret Caliskan; Chingiz Hajiyev

doi:10.1016/j.ifacol.2015.08.051

Reconfigurable control of an UAV against sensor/actuator failures

Fikret Caliskan, Chingiz Hajiyev

Research output: Contribution to journal › Conference article › peer-review

7 Citations (Scopus)

Abstract

An active fault-tolerant flight control system against sensor/actuator failures for unmanned aerial vehicle (UAV) is proposed. In the case of sensor faults, the faulty sensor is isolated, and the Kalman filter (KF) that ignores the feedback from the faulty sensor, is built. If the fault is an actuator fault, the actuator fault isolation and identification are performed. For this purpose the partial loss and stuck faults in the actuators are isolated and identified by the two-stage KF. The parameters of the feedback controller are tuned by the control reconfiguration procedure. In the simulations, the longitudinal and lateral dynamics of the UAV model is considered, and reconfigurable flight control against sensor/actuator failures is implemented.

Original language	English
Pages (from-to)	7-12
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	28
Issue number	9
DOIs	https://doi.org/10.1016/j.ifacol.2015.08.051
Publication status	Published - 1 Jul 2015
Event	1st IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, ACNAAV 2015 - Seville, Spain Duration: 10 Jun 2015 → 12 Jun 2015

Bibliographical note

Publisher Copyright:
© 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Keywords

Aircraft control
Disturbance rejection
Fault tolerant systems
Kalman filters
PI controllers

Access to Document

10.1016/j.ifacol.2015.08.051

Cite this

@article{37fc975610ff42c9aa41f87bc0058b8e,

title = "Reconfigurable control of an UAV against sensor/actuator failures",

abstract = "An active fault-tolerant flight control system against sensor/actuator failures for unmanned aerial vehicle (UAV) is proposed. In the case of sensor faults, the faulty sensor is isolated, and the Kalman filter (KF) that ignores the feedback from the faulty sensor, is built. If the fault is an actuator fault, the actuator fault isolation and identification are performed. For this purpose the partial loss and stuck faults in the actuators are isolated and identified by the two-stage KF. The parameters of the feedback controller are tuned by the control reconfiguration procedure. In the simulations, the longitudinal and lateral dynamics of the UAV model is considered, and reconfigurable flight control against sensor/actuator failures is implemented.",

keywords = "Aircraft control, Disturbance rejection, Fault tolerant systems, Kalman filters, PI controllers",

author = "Fikret Caliskan and Chingiz Hajiyev",

note = "Publisher Copyright: {\textcopyright} 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.; 1st IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, ACNAAV 2015 ; Conference date: 10-06-2015 Through 12-06-2015",

year = "2015",

month = jul,

day = "1",

doi = "10.1016/j.ifacol.2015.08.051",

language = "English",

volume = "28",

pages = "7--12",

journal = "IFAC-PapersOnLine",

issn = "2405-8963",

publisher = "Elsevier B.V.",

number = "9",

}

TY - JOUR

T1 - Reconfigurable control of an UAV against sensor/actuator failures

AU - Caliskan, Fikret

AU - Hajiyev, Chingiz

PY - 2015/7/1

Y1 - 2015/7/1

N2 - An active fault-tolerant flight control system against sensor/actuator failures for unmanned aerial vehicle (UAV) is proposed. In the case of sensor faults, the faulty sensor is isolated, and the Kalman filter (KF) that ignores the feedback from the faulty sensor, is built. If the fault is an actuator fault, the actuator fault isolation and identification are performed. For this purpose the partial loss and stuck faults in the actuators are isolated and identified by the two-stage KF. The parameters of the feedback controller are tuned by the control reconfiguration procedure. In the simulations, the longitudinal and lateral dynamics of the UAV model is considered, and reconfigurable flight control against sensor/actuator failures is implemented.

AB - An active fault-tolerant flight control system against sensor/actuator failures for unmanned aerial vehicle (UAV) is proposed. In the case of sensor faults, the faulty sensor is isolated, and the Kalman filter (KF) that ignores the feedback from the faulty sensor, is built. If the fault is an actuator fault, the actuator fault isolation and identification are performed. For this purpose the partial loss and stuck faults in the actuators are isolated and identified by the two-stage KF. The parameters of the feedback controller are tuned by the control reconfiguration procedure. In the simulations, the longitudinal and lateral dynamics of the UAV model is considered, and reconfigurable flight control against sensor/actuator failures is implemented.

KW - Aircraft control

KW - Disturbance rejection

KW - Fault tolerant systems

KW - Kalman filters

KW - PI controllers

UR - http://www.scopus.com/inward/record.url?scp=84992490288&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2015.08.051

DO - 10.1016/j.ifacol.2015.08.051

M3 - Conference article

AN - SCOPUS:84992490288

SN - 2405-8963

VL - 28

SP - 7

EP - 12

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 9

T2 - 1st IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, ACNAAV 2015

Y2 - 10 June 2015 through 12 June 2015

ER -

Reconfigurable control of an UAV against sensor/actuator failures

Abstract

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this