Robust Fault Tolerant Control of an Unmanned Aerial Vehicle in the Presence of Actuator Faults

Qandeel Fazal, Muwahida Liaquat, Maheen Iftikhar

Abstract:	This paper is aimed at developing and testing a robust scheme for the Fault Tolerant Control (FTC) of an Unmanned Aerial Vehicle (UAV) in the presence of three different forms of actuator faults. The FTC is composed of Fault Detection and Isolation (FDI) and reconfiguration steps. The FDI is achieved through the use of full-state Observers and it is made robust by incorporating the Eigenstructure Assignment method. The statistical testing of residuals for fault detection is done by the Sequential Probability Ratio Test (SPRT). For reconfiguration, the Linear Quadratic Gaussian (LQG) regulator based Multiple Models Switching and Tuning (MMST) method is employed. At the end, the proposed FTC technique is applied on a linearized lateral directional model of the Aerosonde UAV and simulated in the Simulink/ MATLAB environment to justify its robustness and efficiency.
Published in:	Proceedings of IEEE/ION PLANS 2016 April 11 - 14, 2016 Hyatt Regency Hotel Savannah, GA
Pages:	757 - 763
Cite this article:	Fazal, Qandeel, Liaquat, Muwahida, Iftikhar, Maheen, "Robust Fault Tolerant Control of an Unmanned Aerial Vehicle in the Presence of Actuator Faults," Proceedings of IEEE/ION PLANS 2016, Savannah, GA, April 2016, pp. 757-763. https://doi.org/10.1109/PLANS.2016.7479770
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