Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
PASSIVE FAULT TOLERANT CONTROL ON QUADROTORS USING A ROBUST SLIDING MODE CONTROL
Submission Author:
yohan diaz , MG , Brazil
Co-Authors:
Paulo Henrique Arruda, Pedro Henrique Rodrigues, Leandro Diniz de Jesus, yohan diaz
Presenter: yohan diaz
doi://10.26678/ABCM.COBEM2023.COB2023-0676
Abstract
Quadrotor UAVs are subject to different technical and operational constraints, thus, it is important to increase its technical realiability in critical areas to ensure a safe flight despite faults. Quadrotor hardware redundancy (in actuators and sensors) has been used extensively in order to solve realibility shortcomings last years but software improvement, especially, that associated to fault tolerant control laws needs more atention and research. This paper leads with the stabilization problem of an underactuated quadrotor during the occurrence of actuator lpartial fault. The main idea of the proposed solution is to verify the robustness of a Sliding Mode Control (SMC) based control law called Conditional Integrator SMC (CISMC) in order to stabilize a quadrotor and allow a safe trajectory tracking by controlling quadrotor attitude and position. The effectiveness of the proposed Passive Fault Tolerant Control (PFTC) was tested by numerical simulations in the presence of partial loss of effectiveness (hard-over) of one actuator and compared to classical PID controller. Results demonstrated a better performance of CISMC when compared to PID in the presence of partial faults, with an improvement of at least 28% of more capacity to withstand failures.
Keywords
Passive Fault Tolerant Control, Quadrotor, Actuator Fault, Conditional Integrator SMC
