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Active versus passive fault-tolerant control of a redundant multirotor UAV

Published online by Cambridge University Press:  26 November 2019

M. Saied Open the ORCID record for M. Saied [Opens in a new window] ,
B. Lussier ,
I. Fantoni ,
H. Shraim  and
C. Francis
M. Saied*
Affiliation:
Sorbonne Universités, Université de Technologie de Compiègne, CNRS, UMR 7253 Heudiasyc, Compiègne, France Lebanese University, Faculty of Engineering, Scientific Research Center in Engineering, Beirut, Lebanon
B. Lussier
Affiliation:
Sorbonne Universités, Université de Technologie de Compiègne, CNRS, UMR 7253 Heudiasyc, Compiègne, France
I. Fantoni
Affiliation:
Sorbonne Universités, Université de Technologie de Compiègne, CNRS, UMR 7253 Heudiasyc, Compiègne, France LS2N UMR CNRS 6004, Nantes, France
H. Shraim
Affiliation:
Lebanese University, Faculty of Engineering, Scientific Research Center in Engineering, Beirut, Lebanon
C. Francis
Affiliation:
Lebanese University, Faculty of Engineering, Scientific Research Center in Engineering, Beirut, Lebanon
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Abstract

This paper considers actuator redundancy management for a redundant multirotor Unmanned Aerial Vehicle (UAV) under actuators failures. Different approaches are proposed: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using high-order super-twisting sliding mode techniques, and handles the failures without requiring information from a Fault Detection scheme. The Active Fault-Tolerant Control (AFTC) is achieved through redistributing the control signals among the healthy actuators using reconfigurable multiplexing and pseudo-inverse control allocation. The Fault Detection and Isolation problem is also considered by proposing model-based and model-free modules. The proposed techniques are all implemented on a coaxial octorotor UAV. Different experiments with different scenarios were conducted for the validation of the proposed strategies. Finally, advantages, disadvantages, application considerations and limitations of each method are examined through quantitative and qualitative studies.

Keywords

Fault Tolerant ControlFault Diagnosisunmanned aerial vehicles
Type
Research Article
Information
The Aeronautical Journal , Volume 124 , Issue 1273 , March 2020 , pp. 385 - 408
Copyright
© Royal Aeronautical Society 2019 

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