Related papers: Fault Detection and Tolerant Control for Aero2 2D0…
Fault tolerance is achieved through multiply redundant hardware systems in large civil aircraft. This means of achieving fault tolerance is infeasible for small compact unmanned aerial vehicles. In this paper we apply a fault tolerant…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated…
Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…
This paper considers the controllability analysis problem for a class of multirotor systems subject to rotor failure/wear. It is shown that classical controllability theories of linear systems are not sufficient to test the controllability…
Offering vertical take-off and landing (VTOL) capabilities and the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These capabilities make hybrid VTOLs the clear front-runners among UAM platforms. On the…
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H-infinity is presented. In particular, the introductory part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…
A set of hardware in the loop simulation methods based on the UAV model is proposed to create fault data, which is used to judge the parts where faults happen. Actual flight experimental data is utilized to prove the reliability of Simulink…
The aim is to create reliable and verifiable fault detection software to detect abrupt changes in safety-critical dynamic systems. Fault detection methods are implemented as software on digital computers that monitor and control the system.…
This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…
This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The actuator fault dynamics is…
We study an in-flight actuator failure recovery problem for a hexrotor UAV. The hexrotor may experience external disturbances and modeling error, which are accounted for in the control design and distinguished from an actuator failure. A…
This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…
The advent of automated vehicles operating at SAE levels 4 and 5 poses high fault tolerance demands for all functions contributing to the driving task. At the actuator level, fault-tolerant vehicle motion control, which exploits functional…
A control system verification framework is presented for unmanned aerial vehicles using theorem proving. The framework's aim is to set out a procedure for proving that the mathematically designed control system of the aircraft satisfies…