Passive Fault Tolerant Lateral Controller Design For an UAV

被引：10
|
作者：
Vural, Sitki Yenal [1 ]
Dasdemir, Janset [2 ]
Hajiyev, Chingiz [1 ]
机构：
[1] Istanbul Tech Univ, Aeronaut & Astronaut Fac, TR-34469 Istanbul, Turkey
[2] Yildiz Tech Univ, Dept Control & Automat Engn, TR-34220 Istanbul, Turkey
来源：
IFAC PAPERSONLINE | 2018年 / 51卷 / 30期
关键词：
Fault-tolerant control; UAVs; Robust control; UAV control; Actuator failure;
D O I：
10.1016/j.ifacol.2018.11.320
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study a passive lateral fault tolerant controller for an UAV is designed using dynamic inversion (DI) method and robust integral of the signum of the error (RISE) techniques. The details of the methods are summarized As the reference model of the tracking controller, UAV controlled by feedback type controller is used and the control method used for this design is explained. The loss in control effectiveness is modeled as changes in the control distribution matrix. Simulations are made to show the effectiveness of the passive fault tolerant controller in maintaining the lateral control in case of actuator effectiveness loss. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：446 / 451
页数：6
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