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.
|Title of host publication||60th IEEE Conference on Decision and Control, CDC 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - 2021|
|Event||60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States|
Duration: 13 Dec 2021 → 17 Dec 2021
|Name||Proceedings of the IEEE Conference on Decision and Control|
|Conference||60th IEEE Conference on Decision and Control, CDC 2021|
|Period||13/12/21 → 17/12/21|
Bibliographical noteFunding Information:
ACKNOWLEDGMENT This work was supported in part by the SEP-CONACYT-ECOS-ANUIES Project 315597. The authors gratefully acknowledge the financial support from TecNM projects, Cat-edras CONACYT CVU 270504 project 922 and CONACYT CVU 785635.
© 2021 IEEE.
- Fault Accommodation
- Fault Tolerant Control