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Fault Tolerant Margins for Unmanned Aerial Vehicle Flight Safety

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Abstract

Consider an unmanned aerial vehicle (UAV) operation from the time it is launched until the time it is put into an autonomous flight control mode. The control input u(t) during this time duration is modeled σ u(t) and assumed healthy with σ = 1. In practice, however, the control inputs are less effective with a σ-value in the interval [0, 1) (Fan et al. 2012; Jayakumar and Das 2006; Hu et al. J. Guid. Control. Dyn. 34(3), 927–932, 2011). Complete damaged condition is inferred from σ = 0. Given a stabilizing controller, a range of σ-values in the interval [0,1) for which the closed loop system would remain stable is referred as the fault-tolerant margin (FTM). Flight operations with control effectiveness beyond the FTM are catastrophic. Further, when aerodynamic parameter variations due to an uncertain atmospheric condition in an UAV are present, it is shown that the FTMs are extremely sensitive to these parameter perturbations. In this paper, the FTMs are presented. The effects of control effectiveness factor on the nonlinear UAV when it is in the stable range are investigated. An UAV model in Ashokkumar and York (2016) is considered to illustrate the FTMs as a threshold to guarantee the safe operation.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, US Air Force Academy, Colorado Springs, CO, 80840, USA

    Chimpalthradi R. Ashokkumar

  2. USAF Academy Center for Unmanned Aircraft Systems Research in the Department of Electrical and Computer Engineering, US Air Force Academy, Colorado Spring, CO, 80840, USA

    George WP York & Scott F. Gruber

Authors
  1. Chimpalthradi R. Ashokkumar
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  2. George WP York
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  3. Scott F. Gruber
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Correspondence to Chimpalthradi R. Ashokkumar.

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Ashokkumar, C.R., York, G.W. & Gruber, S.F. Fault Tolerant Margins for Unmanned Aerial Vehicle Flight Safety. J Intell Robot Syst 88, 481–494 (2017). https://doi.org/10.1007/s10846-017-0487-8

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  • DOI: https://doi.org/10.1007/s10846-017-0487-8

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