Partial engine fault detection and control of a Quadrotor considering model uncertainty

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dc.contributor.authorAsadi, Davood
dc.date.accessioned2025-01-06T17:30:24Z
dc.date.available2025-01-06T17:30:24Z
dc.date.issued2022
dc.description.abstractThis paper presents a trajectory tracking fault-tolerant control strategy inside an autonomous emergency landing architecture to control a quadrotor in case of partial rotor fault. The proposed architecture, which is composed of required hardware and subsystems, aims to ensure a fully autonomous safe landing of the impaired quadrotor to a suitable landing site. The controller strategy, which is tried to be coincident with the proposed emergency landing architecture and the Pixhawk autopilot contains a cascade three-loop structure of adaptive sliding mode and a modified PID algorithm along with a fault detection algorithm. The adaptive sliding mode and the PID algorithms are applied to the fast dynamics of angular velocity rates and the position control of the quadrotor, respectively. A lightweight fault detection algorithm is developed to detect and identify the partial faults of engine using the controller outputs and the filtered angular rates. The simulation results demonstrate that the proposed fault-tolerant controller can control the multi-rotor in partial engine faults with satisfactory tracking performance. The results also demonstrate the effect of fault detection time delay on the overall control performance. © Author(s) 2021.
dc.description.sponsorshipScientific Research Project Unit; Bilimsel Araştırma Projeleri Birimi, İstanbul Teknik Üniversitesi, BAP, (19119002)
dc.identifier.doi10.31127/tuje.843607
dc.identifier.endpage117
dc.identifier.issn2587-1366
dc.identifier.issue2
dc.identifier.scopus2-s2.0-85114471624
dc.identifier.scopusqualityQ3
dc.identifier.startpage106
dc.identifier.trdizinid1114520
dc.identifier.urihttps://doi.org/10.31127/tuje.843607
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/1114520
dc.identifier.urihttps://hdl.handle.net/20.500.14669/1583
dc.identifier.volume6
dc.indekslendigikaynakScopus
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.publisherMurat Yakar
dc.relation.ispartofTurkish Journal of Engineering
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241211
dc.subjectAutonomous Emergency
dc.subjectEngine Fault
dc.subjectFault detection
dc.subjectFault tolerant Control
dc.subjectLanding
dc.titlePartial engine fault detection and control of a Quadrotor considering model uncertainty
dc.typeArticle

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