Passive and Active Fault Tolerant Control of Octorotor UAV Using Second Order Sliding Mode Control

被引：0
|
作者：
Merheb, Abdel-Razzak [1 ,2 ]
Bateman, Francois [3 ]
Noura, Hassan [4 ]
机构：
[1] Aix Marseille Univ, Marseille, France
[2] Lebanese Int Univ, Beirut, Lebanon
[3] French Air Force Acad, Salon De Provence, France
[4] United Arab Emirates Univ, Dept Elect Engn, Al Ain, U Arab Emirates
来源：
2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015) | 2015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：
In this paper, Second Order Sliding Mode technique is used to develop a Passive Fault Tolerant Controller (PFTC) for octorotor UAVs. Super twisting algorithm is applied to form the discontinuous part of the controller. Optimal controller gains are found using Ecological Systems Algorithm, a bio-inspired optimization algorithm made to search within the stability region of the controller. An Active Fault Tolerant Controller (AFTC) version of the controller is designed using Pseudo-Inverse and Dynamic control re-allocation methods. SIMULINK based simulation results show the effectiveness of the proposed controllers which exceed the performance of First Order Sliding Mode active fault tolerant controller.
引用
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页码：1907 / 1912
页数：6
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