Health–Aware and Fault–Tolerant Control of an Octorotor UAV System Based on Actuator Reliability

International Journal of Applied Mathematics and Computer Science

Sanjuan Adrián¹  Nejjari Fatiha¹  Salazar Jean Carlo¹  Sarrate Ramon¹ 

[1] Polytechnic University of Catalonia (UPC), Research Center for Supervision, Safety and Automatic Control (CS2AC), 10, Rambla Sant Nebridi, Terrassa, Spain;

关键词: prognostics and health management;    health-aware control;    fault-tolerant control;    reliability analysis;    octorotor;    uav;   

DOI  :  10.34768/amcs-2020-0004

来源: DOAJ

【 摘 要 】

A major goal in modern flight control systems is the need for improving reliability. This work presents a health-aware and fault-tolerant control approach for an octorotor UAV that allows distributing the control effort among the available actuators based on their health information. However, it is worth mentioning that, in the case of actuator fault occurrence, a reliability improvement can come into conflict with UAV controllability. Therefore, system reliability sensitivity is redefined and modified to prevent uncontrollable situations during the UAV’s mission. The priority given to each actuator is related to its importance in system reliability. Moreover, the proposed approach can reconfigure the controller to compensate actuator faults and improve the overall system reliability or delay maintenance tasks.

【 授权许可】

Unknown