Actuator Fault Detection, Identification, and Control of a Multirotor Air Vehicle Using Residual Generation and Parameter Estimation Approaches
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Tarih
2024
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Effective fault detection and identification (FDI) and fault-tolerant control for nonlinear, unstable, and underactuated systems like quadrotor is a challenging and critical process. This paper introduces a novel two-stage structure of an FDI approach integrated with an adaptive sliding mode controller for fault-tolerant control of a quadrotor with partial actuator fault. The FDI algorithm applies the parity space concept to generate a residual signal based on the system's states and the inputs. The residual signal is examined by the exponential forgetting factor recursive least square method to detect and identify the partial fault of the actuator. The cascade controller includes an adaptive SMC algorithm in the inner loop and a PID controller in the outer loop. Real-time testbed experiments and Monte-Carlo simulation are applied in different actuator fault scenarios to determine the FDI algorithm's performance metrics and demonstrate the effectiveness of the proposed algorithm. in maintaining full controllability of the quadrotor in presence of partial actuator fault.
Açıklama
Anahtar Kelimeler
Fault detection, Parity space, Estimation, Impaired quadrotor, Fault-tolerant control
Kaynak
International Journal of Aeronautical and Space Sciences
WoS Q Değeri
Q2
Scopus Q Değeri
Q2
Cilt
25
Sayı
1
