TY - GEN
T1 - Fault Tolerant Control of Hexarotor UAVs against Motor Failure
AU - Liao, Fang
AU - Zhao, Zuoquan
AU - Wang, Jianliang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85167821257&partnerID=8YFLogxK
U2 - 10.1109/MED59994.2023.10185903
DO - 10.1109/MED59994.2023.10185903
M3 - Conference contribution
AN - SCOPUS:85167821257
T3 - 2023 31st Mediterranean Conference on Control and Automation, MED 2023
SP - 221
EP - 226
BT - 2023 31st Mediterranean Conference on Control and Automation, MED 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 31st Mediterranean Conference on Control and Automation, MED 2023
Y2 - 26 June 2023 through 29 June 2023
ER -