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Number 1 - March 2015
Volume 25 - 2015
Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs
Zhaohui Cen, Hassan Noura, Younes Al Younes
Abstract
A systematic fault tolerant control (FTC) scheme based on fault estimation for a quadrotor actuator, which integrates normal
control, active and passive FTC and fault parking is proposed in this paper. Firstly, an adaptive Thau observer (ATO) is
presented to estimate the quadrotor rotor fault magnitudes, and then faults with different magnitudes and time-varying
natures are rated into corresponding fault severity levels based on the pre-defined fault-tolerant boundaries. Secondly, a
systematic FTC strategy which can coordinate various FTC methods is designed to compensate for failures depending
on the fault types and severity levels. Unlike former stand-alone passive FTC or active FTC, our proposed FTC scheme
can compensate for faults in a way of condition-based maintenance (CBM), and especially consider the fatal failures that
traditional FTC techniques cannot accommodate to avoid the crashing of UAVs. Finally, various simulations are carried out
to show the performance and effectiveness of the proposed method.
Keywords
systematic fault tolerant control, fault estimation, adaptive Thau observer, fault tolerant capacity boundaries, time-varying fault