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Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Abdel-Razzak Merheb;  Hassan Noura;  François Bateman — 2015

International Journal of Applied Mathematics and Computer Science

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...

Systematic fault tolerant control based on adaptive Thau observer estimation for quadrotor UAVs

Zhaohui Cen;  Hassan Noura;  Younes Al Younes — 2015

International Journal of Applied Mathematics and Computer Science

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...

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