Fault Tolerant Control of an Over Actuated UAV

Date

2011-07-08

Author

Tekinalp, Ozan
Yavrucuk, İlkay

Metadata

Show full item record

Item Usage Stats

84
views

0
downloads

The fault tolerant control of over actuated UAVs is addressed. The controller is designed using classical sequential loop closing techniques. Two static control allocation methods are examined: Moore-Penrose pseudo inverse and blended inverse. For this purpose, an aircraft with three sets of ailerons is employed. The blended inverse algorithm is shown to be more effective in controlling the aircraft when some of the control surfaces are lost. It is also demonstrated that, with redundant control surfaces it is possible to recover the aircraft during a maneuver even some of the control surfaces are damaged or stuck.

Subject Keywords

Four-Wheel drive, Electric vehicles, Fault-Tolerant control

URI

https://hdl.handle.net/11511/74202

DOI

https://doi.org/10.2514/6.2011-6413

Conference Name

AIAA Guidance, Navigation and Control Conference (8-11 August 2011)

Collections

Department of Aerospace Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Fault-tolerant control of discrete-event systems with lower-bound specifications Moor, Thomas; Schmidt, Klaus Verner (2015-06-01) Fault-tolerant control addresses the control of dynamical systems such that they remain functional after the occurrence of a fault. To allow the controller to compensate for a fault, the system must exhibit certain redundancies. Alternatively, one may relax performance requirements for the closedloop behaviour after the occurrence of a fault. To achieve fault tolerance for a hierarchical control architecture, a combination of both options appears to be advisable: on each individual level of the hierarchy, t...
Safety assessment in megaprojects using artificial intelligence Ayhan, Bilal Umut; Tokdemir, Onur Behzat (Elsevier BV, 2019-10-01) Record keeping systems are gaining more importance in addressing safety problems in megaprojects. The information recorded is being converted into large data domains since it has become necessary to examine problems down to the last detail to deal with them properly. Due to a high number of attributes and the type of information, the data has a high level of heterogeneity. The aim of this paper is to propose an innovative safety assessment methodology to predict the possible scenarios and determine preventa...
End-to-end networks for detection and tracking of micro unmanned aerial vehicles Aker, Cemal; Kalkan, Sinan; Department of Computer Engineering (2018) As the number of micro unmanned aerial vehicles (mUAV) increases, several threats arise. Hence, there is a need for a system that can detect and track them. In this thesis, an object detection model based on convolutional neural networks for mUAV detection, and a novel end-to-end object tracking architecture are proposed. To solve the scarce data problem for training the detection network, an algorithm for creating an extensive artificial dataset by combining background-subtracted real images is proposed. I...
Structured H-Infinity controller design and analysis for highly maneuverable jet aircraft Özkan, Salih Volkan; Tekinalp, Ozan; Department of Aerospace Engineering (2022-2-10) Robust control technique is utilized to develop flight control laws for highly maneuverable aircraft. A structured H-Infinity controller is used to optimize the gains of the proposed control algorithm. For this purpose systune algorithm available in Matlab is employed to successfully obtain the controller gains satisfying selected design requirements. Designed control laws are evaluated according to these requirements and validation of the methodology is presented.
Non-local stabilization of nonlinear systems using switching manifolds Banks, SP; Salamci, MU; McCaffrey, D (2000-02-01) The stabilization of nonlinear systems is considered by reducing the problem to a lower dimensional switching manifold which is made globally attracting. The switching manifold is designed using the stable manifold of the unforced system. The technique is first developed in local case and then in the global situation of nonlinear vector fields on manifolds. The method generalizes the standard Lyapunov approach.

Citation Formats

O. Tekinalp and İ. Yavrucuk, “Fault Tolerant Control of an Over Actuated UAV,” presented at the AIAA Guidance, Navigation and Control Conference (8-11 August 2011), Portland, OR; United States, 2011, Accessed: 00, 2021. [Online]. Available: https://hdl.handle.net/11511/74202.