Reconfigurable fault-tolerant UAV flight control against actuator faults

Ch Hajiyev

doi:10.1109/AUCC.2016.7868210

Reconfigurable fault-tolerant UAV flight control against actuator faults

Ch Hajiyev^*

^*Corresponding author for this work

Department of Aeronautical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

In this study, the parameter identification based fault tolerant control of an unmanned aerial vehicle (UAV) dynamics is presented. When faults occur in the actuator, then the elements of the control distribution matrix (control derivatives) change. The Kalman filter (KF) is used in order to identify the control distribution matrix elements; thus, the control reconfiguration is carried out using this identified control distribution matrix. An LQR controller is designed for the modeled UAV. The control derivatives are identified by the KF and LQR controller is reconfigured for the identified control distribution matrix. In simulations, the linearized model of longitudinal dynamics of ZAGI UAV is considered, and the performance of the proposed system identification and reconfigurable control techniques are examined for this model.

Original language	English
Title of host publication	2016 Australian Control Conference, AuCC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	323-328
Number of pages	6
ISBN (Electronic)	9781922107909
DOIs	https://doi.org/10.1109/AUCC.2016.7868210
Publication status	Published - 1 Mar 2017
Event	2016 Australian Control Conference, AuCC 2016 - Newcastle, Australia Duration: 3 Nov 2016 → 4 Nov 2016

Publication series

Name	2016 Australian Control Conference, AuCC 2016

Conference

Conference	2016 Australian Control Conference, AuCC 2016
Country/Territory	Australia
City	Newcastle
Period	3/11/16 → 4/11/16

Bibliographical note

Publisher Copyright:
© 2016 Engineers Australia.

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10.1109/AUCC.2016.7868210

Cite this

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title = "Reconfigurable fault-tolerant UAV flight control against actuator faults",

abstract = "In this study, the parameter identification based fault tolerant control of an unmanned aerial vehicle (UAV) dynamics is presented. When faults occur in the actuator, then the elements of the control distribution matrix (control derivatives) change. The Kalman filter (KF) is used in order to identify the control distribution matrix elements; thus, the control reconfiguration is carried out using this identified control distribution matrix. An LQR controller is designed for the modeled UAV. The control derivatives are identified by the KF and LQR controller is reconfigured for the identified control distribution matrix. In simulations, the linearized model of longitudinal dynamics of ZAGI UAV is considered, and the performance of the proposed system identification and reconfigurable control techniques are examined for this model.",

author = "Ch Hajiyev",

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year = "2017",

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doi = "10.1109/AUCC.2016.7868210",

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Hajiyev, C 2017, Reconfigurable fault-tolerant UAV flight control against actuator faults. in 2016 Australian Control Conference, AuCC 2016., 7868210, 2016 Australian Control Conference, AuCC 2016, Institute of Electrical and Electronics Engineers Inc., pp. 323-328, 2016 Australian Control Conference, AuCC 2016, Newcastle, Australia, 3/11/16. https://doi.org/10.1109/AUCC.2016.7868210

Reconfigurable fault-tolerant UAV flight control against actuator faults. / Hajiyev, Ch.
2016 Australian Control Conference, AuCC 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 323-328 7868210 (2016 Australian Control Conference, AuCC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this study, the parameter identification based fault tolerant control of an unmanned aerial vehicle (UAV) dynamics is presented. When faults occur in the actuator, then the elements of the control distribution matrix (control derivatives) change. The Kalman filter (KF) is used in order to identify the control distribution matrix elements; thus, the control reconfiguration is carried out using this identified control distribution matrix. An LQR controller is designed for the modeled UAV. The control derivatives are identified by the KF and LQR controller is reconfigured for the identified control distribution matrix. In simulations, the linearized model of longitudinal dynamics of ZAGI UAV is considered, and the performance of the proposed system identification and reconfigurable control techniques are examined for this model.

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Reconfigurable fault-tolerant UAV flight control against actuator faults

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