Related papers: Active Fault Tolerant Flight Control System Design…
H Infinity robust control synthesis for gust load alleviation of very flexible aircraft is presented. The controller is synthesised on a compact reduced-order model comprising 8 degrees of freedom for the UAV configuration and 9 for the…
This paper presents an efficient risk management model for unmanned aerial vehicles or UAVs. Our proposed risk management establishes a cyclic model with a continuous and iterative structure that is very adaptable to agile methods and all…
In this work, an $H_{\infty}$ performance fault recovery control problem for a team of multi-agent systems that is subject to actuator faults is studied. Our main objective is to design a distributed control reconfiguration strategy such…
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…
In robotics, designing robust algorithms in the face of estimation uncertainty is a challenging task. Indeed, controllers often do not consider the estimation uncertainty and only rely on the most likely estimated state. Consequently,…
This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
The paper presents a new, robust control algorithm for position trajectory tracking in a 3D space, dedicated to underactuated airships. In order to take into account real characteristics of such vehicles, and to reflect practically…
In this paper, a novel hybrid-degree dual estimation approach based on cubature rules and cubature-based nonlinear filters is proposed for fault diagnosis of nonlinear systems through simultaneous state and time-varying parameter…
A universal and fault tolerant scheme for quantum computation is proposed which utilizes a class of error correcting codes that is based on the detection of spontaneous emission (of, e.g., photons, phonons, and ripplons). The scheme is…
Achieving highly accurate dynamic or simulator models that are close to the real robot can facilitate model-based controls (e.g., model predictive control or linear-quadradic regulators), model-based trajectory planning (e.g., trajectory…
Due to the diversity and implicit redundancy in terms of processing units and compute kernels, off-the-shelf heterogeneous systems offer the opportunity to detect and tolerate faults during task execution in hardware as well as in software.…
This paper presents a new data-driven fault identification and controller reconfiguration algorithm. The presented algorithm relies only on the system's input and output data, and it does not require a detailed system description. The…
Our goal is to achieve a high degree of fault tolerance through the control of a safety critical systems. This reduces to solving a game between a malicious environment that injects failures and a controller who tries to establish a correct…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
Within an industrial manufacturing process, tolerancing is a key player. The dimensions uncertainties management starts during the design phase, with an assessment on variability of parts not yet produced. For one assembly step, we can gain…
This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real…
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.…
An all-electric unmanned aerial system with both VTOL and Fixed wing capabilities is designed and optimized for long range surveillance and relief operations. The UAV is equipped with onboard computers and sensors and is capable of carrying…
This paper presents an approach to mutual collision avoidance based on Nonlinear Model Predictive Control (NMPC) with time-dependent Reciprocal Velocity Constraints (RVCs). Unlike most existing methods, the proposed approach relies solely…