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Fault Tolerant Control of a Quadplane UAV Using Sliding Modes | IEEE Conference Publication | IEEE Xplore

Fault Tolerant Control of a Quadplane UAV Using Sliding Modes


Abstract:

This paper presents a FTC scheme for a quad-plane using sliding mode control allocation. The scheme presented in this paper takes full advantage of the redundant vertical...Show More

Abstract:

This paper presents a FTC scheme for a quad-plane using sliding mode control allocation. The scheme presented in this paper takes full advantage of the redundant vertical rotors to handle total actuator failures, especially during forward flight. The scheme utilises a combination of sliding modes and control allocation which requires only a single baseline control to be designed that operates in both fault free and fault/failure conditions. The scheme exploits the robustness of sliding modes to deal with actuator faults and control allocation to redistribute the control signals in the event of total actuator failures. Simulation results on a nonlinear model of a quadplane shows the efficacy of the scheme.
Date of Conference: 29 June 2021 - 02 July 2021
Date Added to IEEE Xplore: 03 January 2022
ISBN Information:
Conference Location: Delft, Netherlands

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