This chapter presents the design of a sliding-mode-based fault diagnosisFault diagnosis and a fault-tolerant control for the trajectory tracking problem in quad-rotorsQuad–Rotor. The problem considers external disturbances, and two different actuator faulty scenarios: multiple losses of rotor effectiveness or a complete rotor failureRotor failure. The proposals are only based on measurable positions and angles. For the fault diagnosisFault diagnosis strategy, a finite-time sliding-mode observerFinite–Time Sliding–Mode Observer is proposed to estimate some state variables, and it provides a set of residuals. These residuals allow us the detection, isolation, and identification of multiple actuator faults even under the presence of a class of external disturbances. Using the proposed fault diagnosis, an actuator fault accommodation controller is developed to solve the trajectory tracking problem in quad-rotorsQuad–Rotor under the effects of multiple losses of rotor effectiveness and external disturbances. The fault accommodation partially compensates the actuator faults allowing the usage of a baseline robust-nominal controller that deals with external disturbances. Additionally, in order to deal with the rotor failure scenario, an active fault-tolerant control is proposed. First, the rotor failureRotor failure is isolated using the proposed fault diagnosisFault diagnosis, and then, a combination of a finite-time sliding-mode observerFinite–Time Sliding–Mode Observer, PID controllers, and continuous high-order sliding-modes controllers is proposed. Such a strategy allows the yaw angular velocity to remain bounded and the position tracking to be achieved even in the presence of some external disturbances. Numerical simulations and experimental results on Quanser’s QBall2 show the performance of the proposed strategies.
Sliding-Mode-Based Fault Diagnosis and Fault-Tolerant Control for Quad-Rotors
Studies in Systems, Decision and Control
01.11.2023
37 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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