Skip to main content
SpringerLink
Log in

Hierarchical Fault Tolerant Control of a Hexacopter UAV Against Actuator Failure

  • Conference paper
  • First Online:
Robot Intelligence Technology and Applications 6 (RiTA 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 429))

Abstract

A hierarchical fault-tolerant controller for a hexacopter is proposed. The proposed control scheme switches from a nominal controller to a fault-tolerant controller when a fault occurs. In the normal operation condition, an adaptive sliding mode controller is used to adjust the control gains that can deal with uncertainties such as disturbance. When failure occurs, the sliding mode controller with control allocation is activated, which uses constant control gain from the previous adaptive sliding mode controller. The effectiveness and robustness of the proposed controller are demonstrated by numerical simulation subject to an actuator failure. Comparison with a conventional adaptive sliding mode control allocation scheme is also shown.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 189.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 249.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Tayebi, A., McGilvray, S.: Attitude stabilization of a VTOL quadrotor aircraft. IEEE Trans. Control Syst. Technol. 14(3), 562–571 (2006)

    Article  Google Scholar 

  2. Besnard, L., Shtessel, Y.B., Landrum, B.: Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer. J. Franklin Inst. 349(2), 658–684 (2012)

    Article  MathSciNet  Google Scholar 

  3. Chen, A.Y., Huang, Y.N., Han, J.Y., Kang, S.C.: A review of rotorcraft Unmanned Aerial Vehicle (UAV) developments and applications in civil engineering. Smart Struct. Syst 13(6), 1065–1094 (2014)

    Article  Google Scholar 

  4. Kim, Y., Kim, S.: Reconfigurable flight control. In: Encyclopedia of Aerospace Engineering. Dynamics and Control, Part 23: Flight Control, vol. 5. Wiley (2010)

    Google Scholar 

  5. Avram, R.C., Zhang, X., Muse, J.: Nonlinear adaptive fault-tolerant quadrotor altitude and attitude tracking with multiple actuator faults. IEEE Trans. Control Syst. Technol. 26(2), 701–707 (2017)

    Article  Google Scholar 

  6. Izadi, H.A., Zhang, Y., Gordon, B.W.: Fault tolerant model predictive control of quad-rotor helicopters with actuator fault estimation. In: 18th IFAC World Congress, Milan, Italy (2011)

    Google Scholar 

  7. Sharifi, F., Mirzaei, M., Gordon, B.W., Zhang, Y.: Fault tolerant control of a quadrotor UAV using sliding mode control. In: Conference on Control and Fault-Tolerant Systems (SysTol), Nice, France, (2010)

    Google Scholar 

  8. Edwards, C., Spurgeon, S.: Sliding Mode Control: Theory and Applications. CRC Press (1998)

    Google Scholar 

  9. Alwi, H., Edwards, C.: Fault tolerant control of an octorotor using LPV based sliding mode control allocation. In: 2013 American Control Conference. Washington, DC (2013)

    Google Scholar 

  10. Wang, B., Zhang, Y.: An adaptive fault-tolerant sliding mode control allocation scheme for multirotor helicopter subject to simultaneous actuator faults. IEEE Trans. Ind. Electron. 65(5), 4227–4236 (2017)

    Article  Google Scholar 

  11. Zheng, E.H., Xiong, J.J., Luo, J.L.: Second order sliding mode control for a quadrotor UAV. ISA Trans. 53(4), 1350–1356 (2014)

    Article  Google Scholar 

  12. Beard, R.W.: Quadrotor Dynamics and Control. Brigham Young University, Provo (2008)

    Google Scholar 

  13. Defoort, M., Floquet, T., Kokosy, A., Perruquetti, W.: A novel higher order sliding mode control scheme. Syst. Control Lett. 58(2), 102–108 (2009)

    Article  MathSciNet  Google Scholar 

  14. Kim, M., Joe, H., Kim, J., Yu, S.C.: Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances. Int. J. Control 88(10), 2055–2065 (2015)

    Article  MathSciNet  Google Scholar 

  15. Wang, J., et al.: Adaptive hyperbolic tangent sliding-mode control for building structural vibration systems for uncertain earthquakes. IEEE Access 6, 74728–74736 (2018)

    Article  Google Scholar 

  16. Guo, G., Li, D.: Adaptive sliding mode control of vehicular platoons with prescribed tracking performance. IEEE Trans. Vehic. Technol. 68(8), 7511–7520 (2019)

    Article  Google Scholar 

  17. Guo, X.G., Wang, J.L., Liao, F., Teo, R.S.H.: CNN-based distributed adaptive control for vehicle-following platoon with input saturation. IEEE Trans. Intell. Transp. Syst. 19(10), 3121–3132 (2017)

    Article  Google Scholar 

  18. Lee, T., Leok, M., McClamroch, N.: Control of complex maneuvers for a quadrotor UAV using geometric methods on SE (3). arXiv preprint arXiv:1003.2005 (2010)

Download references

Acknowledgement

This research was supported by Unmanned Vehicles Core Technology Research and Development Program through the National Research Foundation of Korea (NRF) and Unmanned Vehicle Advanced Research Center (UVARC) funded by the Ministry of Science and ICT, the Republic of Korea (2020M3C1C1A01083162).

Author information

Authors and Affiliations

  1. Department of Aerospace Engineering, Seoul National University, Seoul, 08826, Republic of Korea

    Miae Kim, Hanna Lee, Jinrae Kim, Seong-hun Kim & Youdan Kim

Authors
  1. Miae Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Hanna Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Jinrae Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Seong-hun Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Youdan Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Miae Kim .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Jinwhan Kim

  2. Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA

    Brendan Englot

  3. Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Hae-Won Park

  4. Aerospace Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Han-Lim Choi

  5. Civil and Environmental Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Hyun Myung

  6. School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Junmo Kim

  7. School of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea (Republic of)

    Jong-Hwan Kim

Rights and permissions

Reprints and permissions

Copyright information

© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Kim, M., Lee, H., Kim, J., Kim, Sh., Kim, Y. (2022). Hierarchical Fault Tolerant Control of a Hexacopter UAV Against Actuator Failure. In: Kim, J., et al. Robot Intelligence Technology and Applications 6. RiTA 2021. Lecture Notes in Networks and Systems, vol 429. Springer, Cham. https://doi.org/10.1007/978-3-030-97672-9_8

Download citation

Publish with us

Policies and ethics

Search

Navigation