An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors

Romeo Falcon; Hector Rios; Alejandro Dzul

doi:10.1109/CDC45484.2021.9682845

An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors

Romeo Falcon, Hector Rios, Alejandro Dzul

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, an actuator fault accommodation controller is developed to solve the trajectory tracking problem in Quad-Rotors under the effects of faults in multiple actuators and external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault accommodation approach is composed of a fault identification module and a baseline robust-nominal controller. The fault identification module is based on a finite-time sliding-mode observer that provides a set of residuals using only the output information. The fault accommodation strategy uses fault identification to partially compensate the actuator faults allowing the usage of a baseline robust-nominal controller that deals with the external disturbances. Numerical simulations show the performance of the proposed control strategy.

Original language	English
Title of host publication	60th IEEE Conference on Decision and Control, CDC 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7100-7105
Number of pages	6
ISBN (Electronic)	9781665436595
DOIs	https://doi.org/10.1109/CDC45484.2021.9682845
State	Published - 2021
Event	60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States Duration: 13 Dec 2021 → 17 Dec 2021

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2021-December
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	60th IEEE Conference on Decision and Control, CDC 2021
Country/Territory	United States
City	Austin
Period	13/12/21 → 17/12/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

Fault Accommodation
Fault Tolerant Control
Quad-Rotor

Access to Document

10.1109/CDC45484.2021.9682845

Cite this

Falcon, R., Rios, H., & Dzul, A. (2021). An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors. In 60th IEEE Conference on Decision and Control, CDC 2021 (pp. 7100-7105). (Proceedings of the IEEE Conference on Decision and Control; Vol. 2021-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC45484.2021.9682845

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abstract = "In this paper, an actuator fault accommodation controller is developed to solve the trajectory tracking problem in Quad-Rotors under the effects of faults in multiple actuators and external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault accommodation approach is composed of a fault identification module and a baseline robust-nominal controller. The fault identification module is based on a finite-time sliding-mode observer that provides a set of residuals using only the output information. The fault accommodation strategy uses fault identification to partially compensate the actuator faults allowing the usage of a baseline robust-nominal controller that deals with the external disturbances. Numerical simulations show the performance of the proposed control strategy.",

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Falcon, R, Rios, H & Dzul, A 2021, An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors. in 60th IEEE Conference on Decision and Control, CDC 2021. Proceedings of the IEEE Conference on Decision and Control, vol. 2021-December, Institute of Electrical and Electronics Engineers Inc., pp. 7100-7105, 60th IEEE Conference on Decision and Control, CDC 2021, Austin, United States, 13/12/21. https://doi.org/10.1109/CDC45484.2021.9682845

An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors. / Falcon, Romeo; Rios, Hector; Dzul, Alejandro.
60th IEEE Conference on Decision and Control, CDC 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 7100-7105 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2021-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, an actuator fault accommodation controller is developed to solve the trajectory tracking problem in Quad-Rotors under the effects of faults in multiple actuators and external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault accommodation approach is composed of a fault identification module and a baseline robust-nominal controller. The fault identification module is based on a finite-time sliding-mode observer that provides a set of residuals using only the output information. The fault accommodation strategy uses fault identification to partially compensate the actuator faults allowing the usage of a baseline robust-nominal controller that deals with the external disturbances. Numerical simulations show the performance of the proposed control strategy.

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An Actuator Fault Accommodation Sliding-Mode Control Approach for Trajectory Tracking in Quad-Rotors

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