Actuator Fault Detection, Identification, and Control of a Multirotor Air Vehicle Using Residual Generation and Parameter Estimation Approaches

Basit Öğe Kaydı
dc.authoridasadi, davood/0000-0002-2066-6016
dc.contributor.authorAsadi, Davood
dc.date.accessioned2025-01-06T17:37:49Z
dc.date.available2025-01-06T17:37:49Z
dc.date.issued2024
dc.description.abstractEffective 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.
dc.description.sponsorshipScientific and Technological Research Council of Turkey (TUEBITAK) [120M793]
dc.description.sponsorshipThis research is supported by the Scientific and Technological Research Council of Turkey (TUEBITAK) under 3501 program, with project number [120M793].
dc.identifier.doi10.1007/s42405-023-00633-0
dc.identifier.endpage189
dc.identifier.issn2093-274X
dc.identifier.issn2093-2480
dc.identifier.issue1
dc.identifier.scopus2-s2.0-85162998900
dc.identifier.scopusqualityQ2
dc.identifier.startpage176
dc.identifier.urihttps://doi.org/10.1007/s42405-023-00633-0
dc.identifier.urihttps://hdl.handle.net/20.500.14669/2381
dc.identifier.volume25
dc.identifier.wosWOS:001017541800001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringer
dc.relation.ispartofInternational Journal of Aeronautical and Space Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectFault detection
dc.subjectParity space
dc.subjectEstimation
dc.subjectImpaired quadrotor
dc.subjectFault-tolerant control
dc.titleActuator Fault Detection, Identification, and Control of a Multirotor Air Vehicle Using Residual Generation and Parameter Estimation Approaches
dc.typeArticle

Dosyalar

Koleksiyon

WoS İndeksli Yayınlar Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu