A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Yuying Guo, Bin Jiang and Youmin Zhang, "A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 292-300, Jan. 2018. doi: 10.1109/JAS.2017.7510679
Citation: Yuying Guo, Bin Jiang and Youmin Zhang, "A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 292-300, Jan. 2018. doi: 10.1109/JAS.2017.7510679

A Novel Robust Attitude Control for Quadrotor Aircraft Subject to Actuator Faults and Wind Gusts

doi: 10.1109/JAS.2017.7510679
Funds:

the National Natural Science Foundation of China 61573282

the Foundation of the Education Department of Sichuan Province 16ZA0132

the Foundation of Robot Technology Used for Special Environment, Key Laboratory of Sichuan Province 13zxtk06

More Information
  • A novel robust fault tolerant controller is developed for the problem of attitude control of a quadrotor aircraft in the presence of actuator faults and wind gusts in this paper. Firstly, a dynamical system of the quadrotor taking into account aerodynamical effects induced by lateral wind and actuator faults is considered using the Newton-Euler approach. Then, based on active disturbance rejection control (ADRC), the fault tolerant controller is proposed to recover faulty system and reject perturbations. The developed controller takes wind gusts, actuator faults and measurement noises as total perturbations which are estimated by improved extended state observer (ESO) and compensated by nonlinear feedback control law. So, the developed robust fault tolerant controller can successfully accomplish the tracking of the desired output values. Finally, some simulation studies are given to illustrate the effectiveness of fault recovery of the proposed scheme and also its ability to attenuate external disturbances that are introduced from environmental causes such as wind gusts and measurement noises.

     

  • loading
  • [1]
    D. W. Murphy and J. Cycon, "Applications for mini VTOL UAV for law enforcement, " in Proc. SPIE 3577, Sensors, C3I, Information, and Training Technologies for Law Enforcement, Boston, MA, USA, 1999. http://adsabs.harvard.edu/abs/1999spie.3577...35m
    [2]
    Committee on Autonomous Vehicles in Support of Naval Operations, National Research Council, Autonomous Vehicles in Support of Naval Operations. Washington DC:The National Academies Press, 2005.
    [3]
    G. Slater, "Cooperation between UAVs in a search and destroy mission, " in AIAA Guidance, Navigation, and Control Conf. and Exhibit, Austin, Texas, USA, 2003. doi: 10.2514/6.2003-5797
    [4]
    S. R. Herwitz, L. F. Johnson, S. E. Dunagan, R. G. Higgins, D. V. Sullivan, J. Zheng, B. M. Lobitz, J. G. Leung, B. A. Gallmeyer, M. Aoyagi, R. E. Slye, and J. A. Brass, "Imaging from an unmanned aerial vehicle: Agricultural surveillance and decision support, " Comput. Electron. Agric., vol. 44, no. 1, pp. 49-61, Jul. 2004. http://www.sciencedirect.com/science/article/pii/S0168169904000456
    [5]
    J. H. Kim and S. Sukkarieh, "Airborne simultaneous localisation and map building, " in Proc. IEEE Int. Conf. Robotics and Automation, Taipei, Taiwan, China, 2003, vol. 1, pp. 406-411. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=1241629
    [6]
    K. Alexis, G. Nikolakopoulos, A. Tzes, and L. Dritsas, "Coordination of helicopter UAVs for aerial forest-fire surveillance, " in Applications of Intelligent Control to Engineering Systems, K. P. Valavanis, Ed. Netherlands: Springer, 2009, pp. 169-193. http://www.springerlink.com/content/k37454wr84n57715
    [7]
    C. Yuan, Y. M. Zhang, and Z. X. Liu, "A survey on technologies for automatic forest fire monitoring, detection, and fighting using unmanned aerial vehicles and remote sensing techniques, " Can. J. For. Res., vol. 45, no. 7, pp. 783-792, Mar. 2015. http://agris.fao.org/agris-search/search.do?recordID=US201600199786
    [8]
    N. Metni and T. Hamel, "A UAV for bridge inspection: Visual servoing control law with orientation limits, " Automat. Construct., vol. 17, no. 1, pp. 3-10, Nov. 2007. http://www.sciencedirect.com/science/article/pii/S0926580507000052
    [9]
    Z. Sarris, "Survey of UAV applications in civil markets, " in Proc. the 9th Mediterranean Conf. Control and Automation, Dubrovnik, Croatia, 2001.
    [10]
    X. Wang and Y. M. Zhang, "A survey on remote sensing and computer vision technologies for automatic power line inspection using unmanned aerial vehicles, " in Proc. the 12th Int. Conf. Intelligent Unmanned System, Xi'an, China, 2016.
    [11]
    J. R. Azinheira and A. Moutinho, "Hover control of an UAV with backstepping design including input saturations, " IEEE Trans. Control Syst. Technol., vol. 16, no. 3, pp. 517-526, Apr. 2008. http://ieeexplore.ieee.org/document/4470489/
    [12]
    S. Jackson, J. Tisdale, M. Kamgarpour, B. Basso, and J. K. Hedrick, "Tracking controllers for small UAVs with wind disturbances: Theory and flight results, " in Proc. the 47th IEEE Conf. Decision and Control, Cancun, Mexico, 2008, pp. 564-569. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=4739415
    [13]
    A. L. Jennings, R. Ordonez, and N. Ceccarelli, "An ant colony optimization using training data applied to UAV way point path planning in wind, " in Proc. IEEE Swarm Intelligence Symp., St. Louis, MO, USA, 2008, pp. 1-8. http://ieeexplore.ieee.org/document/4668302/
    [14]
    M. D. Hua, T. Hamel, P. Morin, and C. Samson, "A control approach for thrust-propelled underactuated vehicles and its application to VTOL drones, " IEEE Trans. Automat. Control, vol. 54, no. 8, pp. 1837-1853, Aug. 2009. http://ieeexplore.ieee.org/document/5173496/
    [15]
    K. Alexis, G. Nikolakopoulos, and A. Tzes, "Experimental model predictive attitude tracking control of a quadrotor helicopter subject to windgusts, " in Proc. the 18th Mediterranean Conf. Control & Automation, Marrakech, Morocco, 2010, pp. 1461-1466. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5547844
    [16]
    K. Alexis, G. Nikolakopoulos, and A. Tzes, "Constrained-control of a quadrotor helicopter for trajectory tracking under wind-gust disturbances, " in Prco. 2010 the 15th IEEE Mediterranean Electrotechnical Conf. MELECON, Valletta, Malta, 2010, 1411-1416. http://ieeexplore.ieee.org/xpls/icp.jsp?arnumber=5476026
    [17]
    D. H. Zhou, Y. Liu, and X. He, "Review on fault diagnosis techniques for closed-loop systems, " Acta Automat. Sin., vol. 39, no. 11, pp. 1933-1943, Nov. 2013. http://en.cnki.com.cn/Article_en/CJFDTOTAL-MOTO201311020.htm
    [18]
    Y. Y. Guo and B. Jiang, "Multiple model-based adaptive reconfiguration control for actuator fault, " Acta Automat. Sin., vol. 35, no. 11, pp. 1452-1458, Nov. 2009. http://www.sciencedirect.com/science/article/pii/S1874102908601172
    [19]
    M. Ranjbaran and K. Khorasani, "Generalized fault recovery of an under-actuated quadrotor aerial vehicle, " in Proc. 2012 American Control Conf., Montreal, Canada, 2012, 2515-2520. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6315526
    [20]
    M. Y. Zhong, S. X. Ding, and D. H. Zhou, "A new scheme of fault detection for linear discrete time-varying systems, " IEEE Trans. Automat. Control, vol. 61, no. 9, pp. 2597-2602, Sep. 2014. http://ieeexplore.ieee.org/document/7317761/
    [21]
    Y. Y. Guo, Y. M. Zhang, and B. Jiang, "Set-membership estimationbased adaptive reconfiguration scheme for linear systems with disturbances, " Int. J. Adapt. Control Signal Process., vol. 30, no. 2, pp. 359-374, Aug. 2016. doi: 10.1002/acs.2598/pdf
    [22]
    M. H. Amoozgar, A. Chamseddine, and Y. M. Zhang, "Fault-tolerant fuzzy gain-scheduled PID for a quadrotor helicopter testbed in the presence of actuator faults," IFAC Proc. Volumes, vol. 45, no. 3, pp. 282-287, 2012. http://www.sciencedirect.com/science/article/pii/S1474667016310382
    [23]
    J. M. Maciejowski and C. N. Jones, "MPC fault-tolerant flight control case study: flight 1862, " in Proc. the 5th Symp. Fault Detection, Supervision and Safety for Technical Processes, Washington D. C., USA, 2003. http://publications.eng.cam.ac.uk/327559/
    [24]
    T. Li, Y. M. Zhang, and B. Gordon, "Fault tolerant control applied to a quadrotor unmanned helicopter, " in Proc. ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Washington D. C., USA, 2011. doi: 10.1115/detc2011-48806
    [25]
    H. Bouadi, M. Bouchoucha, and M. Tadjine, "Sliding mode control based on backstepping approach for an UAV type quadrotor," Int. J. Appl. Math. Comput. Sci., vol. 4, no. 1, pp. 12-17, 2007. http://connection.ebscohost.com/c/articles/33424070/sliding-mode-control-based-backstepping-approach-uav-type-quadrotor
    [26]
    J. Q. Han, "From PID technique to active disturbances rejection control technique, " Control Eng. China, vol. 9, no. 3, pp. 13-18, May 2002. http://en.cnki.com.cn/article_en/cjfdtotal-jzdf200203004.htm
    [27]
    L. E. Muñoz, P. Castillo, G. Sanahuja, and O. Santos, "Embedded robust nonlinear control for a four-rotor rotorcraft: validation in real-time with wind disturbances, " in Proc. 2011 IEEE/RSJ Int. Conf. Intelligent Robots and Systems, San Francisco, CA, USA, 2011, 2682-2687. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6094821
    [28]
    S. Salazar, H. Romero, R. Lozano, and P. Castillo, "Modeling and realtime stabilization of an aircraft having eight rotors, " J. Intell. Robot. Syst., vol. 54, no. 1-3, pp. 455-470, Mar. 2009. doi: 10.1007/s10846-008-9274-x
    [29]
    T. Bresciani, "Modelling, identification and control of a quadrotor helicopter, " M.S. thesis, Dept. Automat. Control, Lund Univ., Lund, 2008, 22-27. https://www.mendeley.com/research-papers/modelling-identification-control-quadrotor-helicopter/
    [30]
    Y. L. He, Y. M. Chen, and M. F. Zhou, "Modeling and control of a quadrotor helicopter under impact of wind disturbance, " J. Chin. Inert. Technol., vol. 21, no. 5, pp. 624-630, Oct. 2013.

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(15)  / Tables(1)

    Article Metrics

    Article views (742) PDF downloads(180) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return