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Design and implementation of a fault-tolerant controller using control allocation techniques in the presence of actuators saturation for a VTOL octorotor

Published online by Cambridge University Press:  21 February 2022

Hamid Hafezi Open the ORCID record for Hamid Hafezi [Opens in a new window] ,
Ali Bakhtiari  and
Ali Khaki-Sedigh
Hamid Hafezi*
Affiliation:
Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Ali Bakhtiari
Affiliation:
Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
Ali Khaki-Sedigh
Affiliation:
Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: hamid.h@email.kntu.ac.ir
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Abstract

Fault-tolerant control systems are vital in many industrial systems. Actuator redundancy is employed in advanced control strategies to increase system maneuverability, flexibility, safety, and fault tolerability. In this paper, a fault-tolerant control scheme is proposed to make an over-actuated octorotor robust, against actuators fault and saturation. A sliding mode observer is employed to determine the actuators condition. Then, a fault-tolerant control based on the control allocation methodology is proposed to distribute the control signals between the actuators by considering their condition. In a nonlinear system, an actuator fault can lead to the saturation of other actuators and steady-state errors that can cause closed-loop instability. Hence, the proposed control scheme corrects the actuator signals in a way that their limitations are considered. Finally, experimental studies are carried out and a comparison study is provided.

Keywords

control allocationfault-tolerant controlfault detection and diagnosisaerial robotoctorotor
Type
Research Article
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3057 - 3076
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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