Passive Fault-Tolerant Control of an Octorotor using Super-Twisting Algorithm: Theory and Experiments

被引：0
|
作者：
Saied, Majd [1 ,2 ]
Lussier, Benjamin [1 ]
Fantoni, Isabelle [1 ]
Shraim, Hassan [2 ]
Francis, Clovis [2 ]
机构：
[1] Univ Technol Compiegne, Sorbonne Univ, CNRS, UMR Heudiasyc 7253, F-60200 Compiegne, France
[2] Univ Libanaise, Fac Genie, CRSI, Beirut, Lebanon
来源：
2016 3RD CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the design and implementation of a Passive Fault-Tolerant Control (PFTC) strategy for a coaxial counter-rotating octorotor based on the Super-Twisting algorithm. This second-order sliding mode technique ensures robustness with respect to uncertainties and disturbances and is also able to deal directly with faults and failures by compensating the actuators loss in the system without prior knowledge on the fault, its location and its severity. The effectiveness of this PFTC is illustrated through real experimental application to a coaxial octorotor, where two motors failures are considered.
引用
收藏
页码：361 / 366
页数：6
相关论文
共 50 条
  • [1] A novel sliding mode fault-tolerant control for quadrotors based on non-singular fast terminal super-twisting algorithm
    Xie, Zuoyu
    Zhao, Jing
    Li, Xinhuang
    Yang, Zhengwei
    Huang, Haiyun
    [J]. 2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 3942 - 3947
  • [2] Fault-tolerant trajectory tracking control of underwater salvage robots based on super-twisting sliding mode
    Jiang, Yuan
    Zhang, Qiang
    Hu, Yancai
    [J]. Ocean Engineering, 2024, 312
  • [3] Finite-time Prescribed Performance Fault-tolerant Control for a Class of Nonlinear System Using Super-twisting Disturbance Observer
    Le Liu
    Xin Wang
    Yueheng Sun
    Yiming Fang
    [J]. International Journal of Control, Automation and Systems, 2023, 21 : 3860 - 3871
  • [4] Finite-time Prescribed Performance Fault-tolerant Control for a Class of Nonlinear System Using Super-twisting Disturbance Observer
    Liu, Le
    Wang, Xin
    Sun, Yueheng
    Fang, Yiming
    [J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2023, 21 (12) : 3860 - 3871
  • [5] Particle filter-based adaptive super-twisting sliding mode fault-tolerant control for helicopter systems
    Raghappriya, M.
    Kanthalakshmi, S.
    [J]. INTERNATIONAL JOURNAL OF DYNAMICS AND CONTROL, 2024, 12 (06) : 1926 - 1941
  • [6] Fault Diagnosis and Fault-Tolerant Control of an Octorotor UAV using motors speeds measurements
    Saied, Majd
    Lussier, Benjamin
    Fantoni, Isabelle
    Shraim, Hassan
    Francis, Clovis
    [J]. IFAC PAPERSONLINE, 2017, 50 (01): : 5263 - 5268
  • [7] Fault-tolerant control based Super-Twisting algorithm for the diesel engine air path subject to loss-of-effectiveness and additive actuator faults
    Ali, Sofiane Ahmed
    Guermouche, Mohammed
    Langlois, Nicolas
    [J]. APPLIED MATHEMATICAL MODELLING, 2015, 39 (15) : 4309 - 4329
  • [8] A Novel Fault-Tolerant Super-Twisting Control Technique for Chaos Stabilization in Fractional-Order Arch MEMS Resonators
    Alsaade, Fawaz W.
    Al-zahrani, Mohammed S.
    [J]. MATHEMATICS, 2023, 11 (10)
  • [9] Super-Twisting Based Fault-Tolerant Control of Multiple-input Three-Phase Interleaved Boost Converter
    Hao, Xinyang
    Laghrouche, Salah
    Amirat, Youcef Ait
    Djerdir, Abdesslem
    [J]. IECON 2020: THE 46TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, 2020, : 2868 - 2873
  • [10] Fault Diagnosis and Fault-Tolerant Control Strategy for Rotor Failure in an Octorotor
    Saied, Majd
    Lussier, Benjamin
    Fantoni, Isabelle
    Francis, Clovis
    Shraim, Hassan
    Sanahuja, Guillaume
    [J]. 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 5266 - 5271
12345