Fault tolerant control of a quadrotor based on incremental nonlinear dynamic inversion

Yıl 2022, Cilt: 3 Sayı: 1, 28 - 47, 30.04.2022

Karim Ahmadi Dastgerdi , Davood Asadi , Seyed Yaser Nabavi Chashmi

https://doi.org/10.55212/ijaa.1033224

Cited By: 3

Öz

The multirotor unmanned aerial vehicles (UAVs) have rapidly attracted interest of the researchers since they play a unique role in a variety of areas including the military, agriculture, rescue, and mining. Actuator fault or failure is inevitable during multi-rotor’s operations, which can endanger humans on the ground in addition to costly damage to the system itself. Therefore, this paper introduces a nonlinear controller algorithm for fault-tolerant control of a quadcopter with partial loss of actuator effectiveness. The introduced controller includes a cascade structure of the fast inner-loop dynamics and slow outer-loop dynamics. In the inner-loop part of the controller, an incremental nonlinear dynamic inversion controller is applied and a modified PID control algorithm is used in the outer-loop of the controller. Simulation results for different fault scenarios demonstrate that the proposed fault-tolerant controller approach can quickly adapt itself to the abrupt change due to the motor faults and tracks the desired inputs satisfactorily.

Anahtar Kelimeler

Fault Tolerant Control, Incremental, Nonlinear Dynamic Inversion, Multirotor

Destekleyen Kurum

Scientific and Technological Research Council of Turkey (TÜBİTAK) under 3501 programs, with project number

Proje Numarası

120M793

Arttirimli doğrusal olmayan dinamik çevirmeye dayali bir quadrotor'un hata toleransli kontrolü

Öz

Karim Ahmdi bir Ph.D. uçuş kontrolü ve dinamiği alanında havacılık mühendisliği mezunu. Adana Alparslan Türkeş Bilim ve Teknoloji Üniversitesi Havacılık ve Uzay Mühendisliği Bölümü, Adana'da Akıllı Uçuş Laboratuvarı'nda Doktora Sonrası Araştırmacı olarak çalışmaktadır. Yüksek lisansını Tahran K.H. Toosi Üniversitesi'nden, Doktora derecesini ise Azad Üniversitesi bilim ve araştırma dalında almıştır. Kontrol sistemi tasarımı, uyarlamalı kontrol, sağlam kontrol, hataya dayanıklı kontrol ve özellikle çok rotorlu insansız hava araçlarında kontrol algoritmalarının uygulanması konusunda uzmandır. Ayrıca bilgisayar kodu geliştirme (C, MATLAB) konusunda da deneyimlidir.

Davood Asadi, 2009 yılında Sharif Üniversitesi'nden Havacılık ve Uzay Mühendisliği alanında lisans ve yüksek lisans derecesi aldı ve doktora derecesini 2009 yılında aldı. 2014 yılında Amirkabir Teknoloji Üniversitesi, Tahran, İran'dan havacılık ve uzay mühendisliği, Uçuş Dinamiği ve Kontrol bölümünden mezun oldu. Adana Alparslan Türkeş Bilim ve Teknoloji Üniversitesi Havacılık ve Uzay Mühendisliği Bölümü'nde Yardımcı Doçent olarak görev yapmaktadır. Araştırma ilgi alanları arasında uçuş dinamikleri, hava araçlarının simülasyonu, hava robotiği ve otonom hareket planlaması, hataya dayanıklı kontrol ve görüş tabanlı hedef tespiti ve navigasyon yer almaktadır.

Yaser Nabavi, Adana Alparslan Türkeş Bilim ve Teknoloji Üniversitesi Havacılık ve Uzay Mühendisliği Bölümü, Adana'da Akıllı Uçuş Laboratuvarı'nda Doktora Sonrası Araştırmacı olarak çalışmaktadır. Lisans, Yüksek Lisans ve Doktora derecelerini aldı. hepsi Sharif University of Technology'den sırasıyla 1999, 2001 ve 2017'de Uçuş Dinamiği ve Kontrolüne odaklanarak Havacılık ve Uzay Mühendisliği bölümünden mezun oldu. Özellikle insansız hava aracı uygulamaları için yörünge planlama, dinamik modelleme ve simülasyon, sistem tanımlama, sezgisel optimizasyon, rehberlik ve navigasyon konularında uzmandır. Ayrıca sistem tasarımı ve analizi, proje yönetimi ve ayrıca bilgisayar programlama (FORTRAN, C++, C#, MATLAB) ile ilgileniyor ve deneyimli.

Anahtar Kelimeler

Hata Toleranslı Kontrol, Artımlı, Doğrusal Olmayan Dinamik Ters Çevirme, Çok Rotorlu

Proje Numarası

120M793

Kaynakça

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