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An Adaptive Fault-Tolerant Sliding Mode Control Allocation Scheme for Multirotor Helicopter Subject to Simultaneous Actuator Faults

Title:

An Adaptive Fault-Tolerant Sliding Mode Control Allocation Scheme for Multirotor Helicopter Subject to Simultaneous Actuator Faults

Wang, Ben and Zhang, Youmin (2017) An Adaptive Fault-Tolerant Sliding Mode Control Allocation Scheme for Multirotor Helicopter Subject to Simultaneous Actuator Faults. IEEE Transactions on Industrial Electronics . pp. 1-10. ISSN 1557-9948 (In Press)

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Official URL: http://ieeexplore.ieee.org/document/8106706/

Abstract

This paper proposes a novel adaptive sliding mode based control allocation scheme for accommodating simultaneous actuator faults. The proposed control scheme includes two separate control modules with virtual control part and control allocation part, respectively. As a lowlevel control module, the control allocation/re-allocation scheme is used to distribute/redistribute virtual control signals among the available actuators under fault-free or faulty cases, respectively. In the case of simultaneous actuator faults, the control allocation and re-allocation module may fail to meet the required virtual control signal which will degrade the overall system stability. The proposed online adaptive scheme can seamlessly adjust the control gains for the high-level sliding mode control module and reconfigure the distribution of control signals to eliminate the effect of the virtual control error and maintain stability of the closed-loop system. In addition, with the help of the boundary layer for constructing the adaptation law, the overestimation of control gains is avoided, and the adaptation ceases once the sliding variable is within the boundary layer. A significant feature of this study is that the stability of the closed-loop system is guaranteed theoretically in the presence of simultaneous actuator faults. The effectiveness of the proposed control scheme is demonstrated by experimental results based on a modified unmanned multirotor helicopter under both single and simultaneous actuator faults conditions with comparison to a conventional sliding mode controller and a linear quadratic regulator scheme.

Divisions:Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical, Industrial and Aerospace Engineering
Item Type:Article
Refereed:Yes
Authors:Wang, Ben and Zhang, Youmin
Journal or Publication:IEEE Transactions on Industrial Electronics
Date:13 November 2017
Funders:
  • China Scholarship Council (CSC) (No. 201406290023)
  • Natural Sciences and Engineering Research Council of Canada (NSERC)
Digital Object Identifier (DOI):10.1109/TIE.2017.2772153
Keywords:Adaptive sliding mode control, control allocation/re-allocation, fault-tolerant control, hardware redundancy, multirotor helicopter, simultaneous actuator faults.
ID Code:983246
Deposited By: DANIELLE DENNIE
Deposited On:28 Nov 2017 14:02
Last Modified:18 Jan 2018 17:56
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