Fault Tolerant Control of Hexarotor UAVs against Motor Failure

Fang Liao, Zuoquan Zhao, Jianliang Wang

Research output: Chapter in Book/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a new approach for fault tolerant control of hexarotor UAVs against motor failure subject to maximum motor speed constraint. The proposed approach consists of two parts: sliding mode control and dynamic control allocation. The sliding mode control is designed to generate the desired forces and torques that achieve and maintain flight stability and performance. As the control design is independent of plant model parameters, it remains the same across the cases of fault-free and motor failure. The dynamic control allocation is then applied to redistribute the desired forces and moments among the remaining healthy motors subject to maximum motor speed constraint. In the proposed approach, the control allocation problem is formulated in terms of solving a nonlinear optimization problem. Then the optimization problem is transformed to a stability problem where the convergence is established by using the Lyapunov stability theory. The simulation on a hexarotor UAV demonstrates the effectiveness of the proposed approach and the advantages over existing approach in terms of motor speed limits.

Original languageEnglish
Title of host publication2023 31st Mediterranean Conference on Control and Automation, MED 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages221-226
Number of pages6
ISBN (Electronic)9798350315431
DOIs
Publication statusPublished - 2023
Externally publishedYes
Event31st Mediterranean Conference on Control and Automation, MED 2023 - Limassol, Cyprus
Duration: 26 Jun 202329 Jun 2023

Publication series

Name2023 31st Mediterranean Conference on Control and Automation, MED 2023

Conference

Conference31st Mediterranean Conference on Control and Automation, MED 2023
Country/TerritoryCyprus
CityLimassol
Period26/06/2329/06/23

ASJC Scopus subject areas

  • Aerospace Engineering
  • Automotive Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization

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