DocumentCode :
2792352
Title :
A Fault Detection and Reconfigurable Control Architecture for Unmanned Aerial Vehicles
Author :
Drozeski, Graham R. ; Saha, Bhaskar ; Vachtsevanos, George J.
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
fYear :
2005
fDate :
5-12 March 2005
Firstpage :
1
Lastpage :
9
Abstract :
The past decade has seen the development of several reconfigurable flight control strategies for unmanned aerial vehicles. Although the majority of the research is dedicated to fixed wing vehicles, simulation results do support the application of reconfigurable flight control to unmanned rotorcraft. This paper develops a fault tolerant control architecture that couples techniques for fault detection and identification with reconfigurable flight control to augment the reliability and autonomy of an unmanned aerial vehicle. The architecture is applicable to fixed and rotary wing aircraft. An adaptive neural network feedback linearization technique is employed to stabilize the vehicle after the detection of a fault. Actual flight test results support the validity of the approach on an unmanned helicopter. The fault tolerant control architecture recovers aircraft performance after the occurrence of four different faults in the flight control system: three swash-plate actuator faults and a collective actuator fault. All of these faults are catastrophic under nominal conditions
Keywords :
aerospace control; aerospace testing; fault diagnosis; fault tolerance; helicopters; reconfigurable architectures; remotely operated vehicles; adaptive neural network; fault detection; fault tolerant; feedback linearization; flight test; reconfigurable control architecture; rotary wing aircraft; unmanned aerial vehicles; unmanned helicopter; Actuators; Adaptive systems; Aerospace control; Aerospace simulation; Aircraft; Fault detection; Fault diagnosis; Fault tolerance; Unmanned aerial vehicles; Vehicle detection;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Aerospace Conference, 2005 IEEE
Conference_Location :
Big Sky, MT
Print_ISBN :
0-7803-8870-4
Type :
conf
DOI :
10.1109/AERO.2005.1559597
Filename :
1559597
Link To Document :
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