Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

Romeo Falcon; Hector Rios; Alejandro Dzul

doi:10.1109/ComRob53312.2021.9628504

Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

Romeo Falcon, Hector Rios, Alejandro Dzul

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

Resumen

This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.

Idioma original	Inglés
Título de la publicación alojada	Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021
Editorial	Institute of Electrical and Electronics Engineers Inc.
Páginas	75-80
Número de páginas	6
ISBN (versión digital)	9781665438254
DOI	https://doi.org/10.1109/ComRob53312.2021.9628504
Estado	Publicada - 2021
Publicado de forma externa	Sí
Evento	23rd Robotics Mexican Congress, COMRob 2021 - Tijuana, México Duración: 27 oct. 2021 → 29 oct. 2021

Serie de la publicación

Nombre	Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021

Conferencia

Conferencia	23rd Robotics Mexican Congress, COMRob 2021
País/Territorio	México
Ciudad	Tijuana
Período	27/10/21 → 29/10/21

Nota bibliográfica

Publisher Copyright:
© 2021 IEEE.

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10.1109/ComRob53312.2021.9628504

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Falcon, R., Rios, H., & Dzul, A. (2021). Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure. En Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021 (pp. 75-80). (Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ComRob53312.2021.9628504

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title = "Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure",

abstract = "This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.",

keywords = "Fault Tolerant Control, Quad-Rotor, Robust Control, Rotor Failure",

author = "Romeo Falcon and Hector Rios and Alejandro Dzul",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 23rd Robotics Mexican Congress, COMRob 2021 ; Conference date: 27-10-2021 Through 29-10-2021",

year = "2021",

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series = "Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021",

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Falcon, R, Rios, H & Dzul, A 2021, Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure. En Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021. Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021, Institute of Electrical and Electronics Engineers Inc., pp. 75-80, 23rd Robotics Mexican Congress, COMRob 2021, Tijuana, México, 27/10/21. https://doi.org/10.1109/ComRob53312.2021.9628504

Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure. / Falcon, Romeo; Rios, Hector; Dzul, Alejandro.
Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 75-80 (Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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N2 - This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.

AB - This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.

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KW - Rotor Failure

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Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

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