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

Guo Yuying; Jiang Bin; Zhang Youmin

doi:10.1109/JAS.2017.7510679

Volume 5 Issue 1

Jan. 2018

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(1): 292-300

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

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

doi: 10.1109/JAS.2017.7510679

Guo Yuying^{1
,
,},
Jiang Bin^2
,,
Zhang Youmin^3
,

1.
School of Information Engineering, Southwest University of Science and Technology, Mianyang 621010, China
2.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
3.
Department of Mechanical, Industrial and Aerospace Engineering and the Concordia Institute of Aerospace Design and Innovation, Faculty of Engineering and Computer Science, Concordia University, Montreal, Quebec H3G 1M8, Canada

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

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Author Bio:
Yuying Guo received the M.S. and Ph.D. degrees from Jilin University, and Nanjing University of Aeronautics and Astronautics, in 2003, and 2010, respectively. From 2013 to 2014, supported by the China Scholarship Council, she was a postdoctoral research fellow with Concordia University, Montreal, QC, Canada. She joined the School of Information Engineering as an Associate Professor, Southwest University of Science and Technology, in September 2003. Her current research interests include nonlinear control, fault diagnosis, faulttolerant control systems, and their applications to fight control; . He is the Chair of Control Systems Chapter in IEEE Nanjing Section, a member of IFAC Technical Committee on Fault Detection, Supervision, and Safety of Technical Processes. His research interests include intelligent fault diagnosis and fault tolerant control and their applications.(e-mail: polarisguo@163.com)

Bin Jiang (M'00-SM'06) was born in Jiangxi, China, in 1966. He obtained the Ph.D. degree in automatic control from Northeastern University, Shenyang, China, in 1995. He had been Postdoctoral Fellow, Research Fellow, Invited Professor and Visiting Professor in Singapore, France, USA and Canada, respectively. Now he is a Chair Professor of Cheung Kong Scholar Program in Ministry of Education and Dean of the College of Automation Engineering in Nanjing University of Aeronautics and Astronautics, China. He currently serves as Associate Editor or Editorial Board Member for a number of journals such as IEEE Trans. on Control Systems Technology; IEEE Trans. on Fuzzy Systems; Int. J. of Control, Automation and Systems; Nonlinear Analysis:Hybrid Systems; Int. J. of Applied Mathematics and Computer Science; Mathematical Problem in Engineering; Acta Automatica Sinica; Journal of Astronautics.(e-mail: binjiang@nuaa.edu.cn)

Youmin Zhang (M'99-SM'07) received the B.S., M.S., and Ph.D. degrees from Northwestern Polytechnical University, Xi'an, China, in 1983, 1986, and 1995, respectively. He is currently a Professor with the Department of Mechanical and Industrial Engineering and the Concordia Institute of Aerospace Design and Innovation, Faculty of Engineering and Computer Science, Concordia University, Montreal, Quebec, Canada. His current research interests include condition monitoring, health management, fault diagnosis, and fault-tolerant (flight) control systems, cooperative guidance, navigation, and control (GNC) and remote sensing of single and multiple unmanned aerial/space/ground/surface vehicles and their applications to forest fires, powerlines and pipelines, search and rescue monitoring, detection and services, dynamic systems modeling, estimation, identification, advanced control techniques and advanced signal processing techniques for diagnosis, prognosis, and health management of safety-critical systems, renewable energy systems and smart grids, and manufacturing processes. He has authored four books, over 460 journal and conference papers, and book chapters. He is a Fellow of Canadian Society of Mechanical Engineering (CSME), a Senior Member of the American Institute of Aeronautics and Astronautics (AIAA) and the Institute of Electrical and Electronics Engineers (IEEE), and a member of the Technical Committee (TC) for several scientific societies, including the International Federation of Automatic Control TC on Fault Detection, Supervision and Safety for Technical Processes, the AIAA Infotech@Aerospace Program Committee on Unmanned Systems, the IEEE Robotics and Automation Society TC on Aerial Robotics and Unmanned Aerial Vehicles, the ASME/IEEE TC on Mechatronics and Embedded Systems and Applications, and the International Conference on Unmanned Aircraft Systems (ICUAS) Association Executive Committee. He has been invited to deliver plenary talks at international conferences/workshops and research seminars worldwide for over 90 times. He is an Editor-in-Chief of the Journal of Instrumentation, Automation and Systems, an Editor-at-Large of the Journal of Intelligent and Robotic Systems, and an Editorial Board Member/Associate Editor of several other international journals (including three newly launched journals on Unmanned Systems). He has served as General Chair, Program Chair, and IPC Member of many international conferences, including the General Chair of the 10th International Conference on Intelligent Unmanned Systems (ICIUS) in 2014, Montreal, Canada, the Program Chair of the International Conference on Unmanned Aircraft Systems (ICUAS) in 2014, Orlando, FL, USA, one of General Chairs of the ICUAS in 2015, Denver, USA, a Co-General Chair of the ICIUS 2016 held at Xian, China, a Program Co-Chair for the SDPC 2017, Shanghai, China, Program Chair of the ICUAS 2017 held at Miami, USA, and General Chair of the ICUAS 2018 to be held at Dallas, USA during June 12-15, 2018. More detailed information can be found at http://users.encs.concordia.ca/ymzhang/.(e-mail: ymzhang@encs.concordia.ca)
Corresponding author: Yuying Guo, e-mail:polarisguo@163.com
Received Date: 2016-08-22
Accepted Date: 2017-03-30

Abstract

Abstract

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.
- Active disturbance rejection control (ADRC),
- attitude control,
- actuator faults,
- disturbances rejection,
- quadrotor aircraft

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References(30)

References

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

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