Related papers: Active Fault Tolerant Flight Control System Design

The area of fault detection is becoming more interesting since there have been many unique designs to detect or even compensate the faults, either from sensor or actuator. This paper applies the hydraulic system with interconnected tanks by…

The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…

With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…

This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…

The paper addresses the issue of reliability of complex embedded control systems in the safety-critical environment. In this paper, we propose a novel approach to design controller that (i) guarantees the safety of nonlinear physical…

The extended Kalman filter (EKF) is a widely adopted method for sensor fusion in navigation applications. A crucial aspect of the EKF is the online determination of the process noise covariance matrix reflecting the model uncertainty. While…

This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…

Steer-by-Wire systems replace mechanical linkages, which provide benefits like weight reduction, design flexibility, and compatibility with autonomous driving. However, they are susceptible to high-frequency disturbances from unintentional…

This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…

The input-parameter-state estimation capabilities of a novel unscented Kalman filter is examined herein on both linear and nonlinear systems. The unknown input is estimated in two stages within each time step. Firstly, the predicted dynamic…

The concept of fault-tolerant control has extensively been explored with various mapping of development. It starts from the system characteristic, the robustness of the controller, estimation methods and optimization, to the combination of…

In this paper, we consider the problem of designing prefix-based optimal controllers for switched linear systems over finite horizons. This problem arises in fault-tolerant control, when system faults result in abrupt changes in dynamics.…

When faulty sensors are rare in a network, diagnosing sensors individually is inefficient. This study introduces a novel use of concepts from group testing and Kalman filtering in detecting these rare faulty sensors with significantly fewer…

This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are…

A major problem in motor control is understanding how the brain plans and executes proper movements in the face of delayed and noisy stimuli. A prominent framework for addressing such control problems is Optimal Feedback Control (OFC). OFC…

Model-based fault-tolerant control (FTC) often consists of two distinct steps: fault detection & isolation (FDI), and fault accommodation. In this work we investigate posing fault-tolerant control as a single Bayesian inference problem.…

This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…

PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…