Obiekt
Tytuł: Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory
Współtwórca:
Byrski, Aleksander - ed. ; Kisiel-Dorohinicki, Marek - ed. ; Dobrowolski, Grzegorz - ed.
Podtytuł:
Tytuł publikacji grupowej:
Abstract:
In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC) augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. ; In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA), a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. ; Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques.
Wydawca:
Zielona Góra: Uniwersytet Zielonogórski
Identyfikator zasobu:
DOI:
Strony:
Źródło:
AMCS, volume 25, number 3 (2015) ; kliknij tutaj, żeby przejść
Jezyk:
Prawa do dysponowania publikacją:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Repozytorium > Jednostki organizacyjne > Wydział Informatyki, Elektrotechniki i Automatyki
- Repozytorium > Typy utworów > Artykuły
- Repozytorium > Czasopisma naukowe i serie wydawnicze UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2015)
Data ostatniej modyfikacji:
2024-05-06
Data dodania obiektu:
2024-05-06
Liczba wyświetleń treści obiektu:
44
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/repozytorium/publication/88903
Wyświetl opis w formacie RDF:
Wyświetl opis w formacie OAI-PMH:
-
International Journal of Applied Mathematics and Computer Science (AMCS)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25, number 1 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25, number 2 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25, number 3 (2015)
- A situation-based multi-agent architecture for handling misunderstandings in interactions
- A belief revision approach for argumentation-based negotiation agents
- A strategy learning model for autonomous agents based on classification
- An agent-oriented hierarchic strategy for solving inverse problems
- A study on meme propagation in multimemetic algorithms
- A multi-agent brokerage platform for media content recommendation
- A sixth-order finite volume method for the 1D biharmonic operator: Application to intramedullary nail simulation
- Analysis of the descriptor Roesser model with the use of the Drazin inverse
- An H[the sign of infinity] sliding mode observer for Takagi-Sugeno nonlinear systems with simultaneous actuator and sensor faults
- Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory
- A symbolic shortest path algorithm for computing subgame-perfect Nash equilibria
- Bottom-up learning of hierarchical models in a class of deterministic POMDP environments
- A repeated imitation model with dependence between stages: Decision strategies and rewards
- Acoustic analysis assessment in speech pathology detection
- On the order equivalence relation of binary association measures
- Signature verification: A comprehensive study of the hidden signature method
- Computing with words with the use of inverse RDM models of membership functions
- Building the library of RNA 3D nucleotide conformations using the clustering approach
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25, number 4 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 25, number 1 (2015)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
-
International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
-
International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Nazwa wydania | Data |
|---|---|
| Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory | 2024-05-06 |
