A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach

Hao Jiang; Yushu Yu; Xilun Ding; J. Jim Zhu

doi:10.1109/ICMA.2012.6283417

A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach

Hao Jiang^*, Yushu Yu, Xilun Ding, J. Jim Zhu

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. This paper presents a new fault tolerant control strategy based on Trajectory Linearization Control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. The maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMTJLINK/MATLAB environment are presented to verify the control strategy.

Original language	English
Title of host publication	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages	1174-1179
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2012.6283417
Publication status	Published - 2012
Externally published	Yes
Event	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China Duration: 5 Aug 2012 → 8 Aug 2012

Publication series

Name	2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Conference

Conference	2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Country/Territory	China
City	Chengdu
Period	5/08/12 → 8/08/12

Keywords

Fault Tolerant Control
Quadrotor
Trajectory Linearization

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10.1109/ICMA.2012.6283417

Cite this

Jiang, H., Yu, Y., Ding, X., & Zhu, J. J. (2012). A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach. In 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 (pp. 1174-1179). Article 6283417 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012). https://doi.org/10.1109/ICMA.2012.6283417

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title = "A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach",

abstract = "Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. This paper presents a new fault tolerant control strategy based on Trajectory Linearization Control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. The maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMTJLINK/MATLAB environment are presented to verify the control strategy.",

keywords = "Fault Tolerant Control, Quadrotor, Trajectory Linearization",

author = "Hao Jiang and Yushu Yu and Xilun Ding and Zhu, {J. Jim}",

year = "2012",

doi = "10.1109/ICMA.2012.6283417",

language = "English",

isbn = "9781467312776",

series = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",

pages = "1174--1179",

booktitle = "2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012",

note = "2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 ; Conference date: 05-08-2012 Through 08-08-2012",

}

Jiang, H, Yu, Y, Ding, X & Zhu, JJ 2012, A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach. in 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012., 6283417, 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012, pp. 1174-1179, 2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, Chengdu, China, 5/08/12. https://doi.org/10.1109/ICMA.2012.6283417

A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach. / Jiang, Hao; Yu, Yushu; Ding, Xilun et al.
2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. 2012. p. 1174-1179 6283417 (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach

AU - Jiang, Hao

AU - Yu, Yushu

AU - Ding, Xilun

AU - Zhu, J. Jim

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N2 - Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. This paper presents a new fault tolerant control strategy based on Trajectory Linearization Control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. The maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMTJLINK/MATLAB environment are presented to verify the control strategy.

AB - Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. This paper presents a new fault tolerant control strategy based on Trajectory Linearization Control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. The maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMTJLINK/MATLAB environment are presented to verify the control strategy.

KW - Fault Tolerant Control

KW - Quadrotor

KW - Trajectory Linearization

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A fault tolerant control strategy for quadrotor UAVs based on trajectory linearization approach

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