Title :
Generalized fault recovery of an under-actuated quadrotor aerial vehicle
Author :
Ranjbaran, Mina ; Khorasani, K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, QC, Canada
Abstract :
Development of an autonomous fault diagnosis and recovery system for unmanned aerial vehicles has recently attracted a lot of interest in the research community. Design of a reliable control system that can cope with faults and anomalies plays an important role in ensuring efficient performance of small aerial vehicles due to hardware redundancy limitations. In this paper, an autonomous fault recovery scheme is proposed in response to multiple actuator faults in an under-actuated quadrotor aerial vehicle. Such a self-recovery mechanism extends the capabilities of the quadrotor system to operate under presence of multiple faults. The developed solution considers a control authority management by incorporating the actuator post-fault model. Simulation results for a quadrotor that is subject to various levels of loss-of-effectiveness faults in multiple control channels are presented to demonstrate the performance of our proposed approach.
Keywords :
autonomous aerial vehicles; fault tolerance; reliability theory; rotors; actuator faults; actuator post fault model; autonomous fault diagnosis; autonomous fault recovery scheme; control authority management; generalized fault recovery; hardware redundancy limitation; multiple control channel; quadrotor system; recovery system; reliable control system; research community; self-recovery mechanism; small aerial vehicle; under-actuated quadrotor aerial vehicle; unmanned aerial vehicles; Actuators; Equations; Mathematical model; Propellers; Table lookup; Vectors; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6315526