Kantue, Paulin ; Pedro, Jimoh O.
Contributor:Yao, Baozhen - ed. ; Wang, Shuaian - ed. ; Asian, Sobhan - ed.
Title:Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults
Subtitle: Group publication title: Subject and Keywords:fault-tolerant control ; quadrocopter ; incipient actuator fault ; radial basis function neural network
Abstract:An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach. The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one. ; A time-difference-of-arrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust against incipient actuator faults during straight and level flight and tight turns.
Publisher:Zielona Góra: Uniwersytet Zielonogórski
Date: Resource Type: DOI: Pages: Source:AMCS, volume 32, number 4 (2022) ; click here to follow the link
Language: License CC BY 4.0: Rights: