Fault tolerance control for quad-rotor UAV using gain-scheduling in Matlab/Gazebo

Fatima Alkhoori, Yahya Zweiri, Ahmad Bani Younes, Tarek Taha, Lakmal Seneviratne

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

Nowadays, multi-rotor Unmanned Aerial Vehicles (UAVs) are deployed widely in different fields to serve multiple purposes. Safety and reliability of multi-rotor system are rapidly growing research area, and enhancing the control design to account for system failure. In this paper, the Fault-Tolerance Control (FTC) is introduced as a method for recovery from failure in quad-rotor UAV actuator in hovering mode. The ultimate aim is to land safely with minimal damage. This research focuses on designing a FTC method that is capable of handling one and/or two rotors failures. Two different controllers are designed and implemented in simulation for controlling the UAV which are Proportional-Integral-Derivative (PID) control and Linear Quadratic Regulator (LQR). LQR shows its effectiveness after comparing both methods responses. Furthermore, a state observer is designed using Linear Quadratic Estimator (LQE). Gain scheduling (GS) method is developed to switch between the controllers of the system in the event of failure. The GS-PID control design is validated in ROS/Gazebo using the new Robotics System Toolbox showing the effectiveness of the proposed method.

Original languageBritish English
Title of host publication2017 4th International Conference on Systems and Informatics, ICSAI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages104-109
Number of pages6
ISBN (Electronic)9781538611074
DOIs
StatePublished - 28 Jun 2017
Event4th International Conference on Systems and Informatics, ICSAI 2017 - Hangzhou, China
Duration: 11 Nov 201713 Nov 2017

Publication series

Name2017 4th International Conference on Systems and Informatics, ICSAI 2017
Volume2018-January

Conference

Conference4th International Conference on Systems and Informatics, ICSAI 2017
Country/TerritoryChina
CityHangzhou
Period11/11/1713/11/17

Keywords

  • Failure
  • Fault Tolerance Control
  • Gain-Scheduling
  • LQE
  • LQR
  • Multi-rotor
  • Quad-copter
  • UAV

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