Actuator fault diagnosis and control of a quadrotor

Author

Souza Candido, Adilson ; Kawakami Harrop Galvao, Roberto ; Yoneyama, Takashi

Author_Institution

Dept. of Electron. & Comput. Eng., Inst. Tecnol. de Aeronaut. - ITA, São José dos Campos, Brazil

fYear

2014

fDate

27-30 July 2014

Firstpage

310

Lastpage

315

Abstract

This paper addresses the problem of actuator fault diagnosis and control of a realistic nonlinear six degree-of-freedom quadrotor helicopter model, based on interacting multiple model (IMM) filter and a switching multi-model predictive controller (MMPC). The proposed methods were evaluated by numerical simulation, and the faults were modeled by increasing the friction and temperature of one rotor. The results were satisfactory in terms of fault detection and diagnosis while performing accurate reference tracking.

Keywords

actuators; autonomous aerial vehicles; fault diagnosis; fault tolerant control; helicopters; nonlinear control systems; numerical analysis; predictive control; rotors (mechanical); IMM filter; MMPC; actuator fault diagnosis; fault detection; interacting multiple model filter; nonlinear six degree-of-freedom quadrotor helicopter model; numerical simulation; quadrotor control; rotor friction; rotor temperature; switching multi-model predictive controller; Actuators; Fault detection; Friction; Numerical models; Predictive models; Switches; Unmanned quadrotor helicopter; actuator fault and brushless dc motor; fault diagnosis; interacting multiple model filter; multi-model predictive controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Informatics (INDIN), 2014 12th IEEE International Conference on

Conference_Location

Porto Alegre

Type

conf

DOI

10.1109/INDIN.2014.6945530

Filename

6945530