We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Actuator Fault Detection and Fault-Tolerant Control for Hexacopter.
- Authors
Nguyen, Ngoc Phi; Xuan Mung, Nguyen; Hong, Sung Kyung
- Abstract
In this paper, fault detection and fault-tolerant control strategies are proposed to handle the issues of both actuator faults and disturbances in a hexacopter. A dynamic model of a hexacopter is first derived to develop a model-based fault detection system. Secondly, the altitude control based on a sliding mode and disturbance observer is presented to tackle the disturbance issue. Then, a nonlinear Thau observer is applied to estimate the states of a hexacopter and to generate the residuals. Using a fault detection unit, the motor failure is isolated to address the one or two actuator faults. Finally, experimental results are tested on a DJI F550 hexacopter platform and Pixhawk2 flight controller to verify the effectiveness of the proposed approach. Unlike previous studies, this work can integrate fault detection and fault-tolerant control design as a single unit. Moreover, the developed fault detection and fault-tolerant control method can handle up to two actuator failures in presence of disturbances.
- Subjects
SLIDING mode control; ACTUATORS; FAULT-tolerant computing
- Publication
Sensors (14248220), 2019, Vol 19, Issue 21, p4721
- ISSN
1424-8220
- Publication type
Article
- DOI
10.3390/s19214721