Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information
Drones have been developed for more than two decades. They have become central to the functions of various civil aviation and military services. Commercial usage of drones continues to grow steadily. As the drones have been used widely in different areas, this raises a safety concern, i.e., all the...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-11-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/10/11/1088 |
| _version_ | 1827644296287748096 |
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| author | Sunan Huang Fang Liao Rodney Swee Huat Teo |
| author_facet | Sunan Huang Fang Liao Rodney Swee Huat Teo |
| author_sort | Sunan Huang |
| collection | DOAJ |
| description | Drones have been developed for more than two decades. They have become central to the functions of various civil aviation and military services. Commercial usage of drones continues to grow steadily. As the drones have been used widely in different areas, this raises a safety concern, i.e., all the multi-rotors have an increased risk of motor or sensor faults. This paper considers a fault-tolerant control (FTC) problem against the inertial motion unit (IMU) sensor fault. First, a neural network estimator is built for the purpose of fault diagnosis. Second, a fault detection scheme is designed by comparing the IMU reading with the estimator, where it uses a logic rule to monitor the IMU state. Third, if the IMU sensor is in faulty state, the Euler angle estimator with neural network built is used to recover the IMU information which is fed into the controller designed. Finally, simulation studies are given to illustrate the effectiveness of the proposed FTC. |
| first_indexed | 2024-03-09T18:12:49Z |
| format | Article |
| id | doaj.art-742a106eb7d04483b10d0ac6b69b34e7 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T18:12:49Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-742a106eb7d04483b10d0ac6b69b34e72023-11-24T08:59:16ZengMDPI AGMachines2075-17022022-11-011011108810.3390/machines10111088Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery InformationSunan Huang0Fang Liao1Rodney Swee Huat Teo2Temasek Laboratories, National University of Singapore, T-Lab Building, 5A, Engineering Drive 1, Unit 09-02, Singapore 117411, SingaporeTemasek Laboratories, National University of Singapore, T-Lab Building, 5A, Engineering Drive 1, Unit 09-02, Singapore 117411, SingaporeTemasek Laboratories, National University of Singapore, T-Lab Building, 5A, Engineering Drive 1, Unit 09-02, Singapore 117411, SingaporeDrones have been developed for more than two decades. They have become central to the functions of various civil aviation and military services. Commercial usage of drones continues to grow steadily. As the drones have been used widely in different areas, this raises a safety concern, i.e., all the multi-rotors have an increased risk of motor or sensor faults. This paper considers a fault-tolerant control (FTC) problem against the inertial motion unit (IMU) sensor fault. First, a neural network estimator is built for the purpose of fault diagnosis. Second, a fault detection scheme is designed by comparing the IMU reading with the estimator, where it uses a logic rule to monitor the IMU state. Third, if the IMU sensor is in faulty state, the Euler angle estimator with neural network built is used to recover the IMU information which is fed into the controller designed. Finally, simulation studies are given to illustrate the effectiveness of the proposed FTC.https://www.mdpi.com/2075-1702/10/11/1088fault diagnosisneural networkssensor faultunmanned aerial vehicle |
| spellingShingle | Sunan Huang Fang Liao Rodney Swee Huat Teo Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information Machines fault diagnosis neural networks sensor fault unmanned aerial vehicle |
| title | Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information |
| title_full | Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information |
| title_fullStr | Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information |
| title_full_unstemmed | Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information |
| title_short | Fault Tolerant Control of Quadrotor Based on Sensor Fault Diagnosis and Recovery Information |
| title_sort | fault tolerant control of quadrotor based on sensor fault diagnosis and recovery information |
| topic | fault diagnosis neural networks sensor fault unmanned aerial vehicle |
| url | https://www.mdpi.com/2075-1702/10/11/1088 |
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