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Lyapunov-based fault tolerant control of quadrotor unmanned aerial vehicles

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Lyapunov-based fault tolerant control of quadrotor unmanned aerial vehicles

Zhang, Xiaobing (2010) Lyapunov-based fault tolerant control of quadrotor unmanned aerial vehicles. Masters thesis, Concordia University.

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Abstract

This thesis presents the theoretical development, simulation study and flight tests of a Lyapunov-based control approach for the Fault Tolerant Control (FTC) of a quadrotor unmanned aerial vehicle (UAV). Based on the derivation of nonlinear model of the dynamics of the quadrotor UAV, a Lyapunov-based control approach with fixed controller gains is proposed and firstly demonstrated through simulations of the quadrotor UAV for handling system parameter uncertainties. Secondly, this proposed Lyapunov-based approach with the selected controller gains is applied as a fault tolerant controller in the framework of a passive Fault Tolerant Control System (FTCS), for handling less severe faults occurring in the quadrotor UAV. Thirdly, the proposed new controller by Lyapunov-based adaptive control method for fault tolerant control of the quadrotor UAV is proposed to handle more severe faults. Finally, the Lyapunov-based control method has been implemented to the test bed, Qball-X4 Unmanned Aerial Vehicle, and the acceptable performances on altitude control have been achieved. In the thesis, simulation and flight testing results demonstrate that the FTCS with the Lyapunov-based approach has certain robustness for most of partial losses. However, the FTCS with Lyapunov-based adaptive control approach has advantages in accommodating more severe faults for, which may not be addressed by the Lyapunov-based approach

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical and Industrial Engineering
Item Type:Thesis (Masters)
Authors:Zhang, Xiaobing
Pagination:xvi, 110 leaves : ill. ; 29 cm.
Institution:Concordia University
Degree Name:M.A. Sc.
Program:Mechanical and Industrial Engineering
Date:2010
Thesis Supervisor(s):Su, Chun-Yi and Zhang, Youmin
ID Code:979466
Deposited By: Concordia University Library
Deposited On:09 Dec 2014 17:59
Last Modified:18 Jan 2018 17:49
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