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Paper details
Number 1 - March 2020
Volume 30 - 2020
Health-aware and fault-tolerant control of an octorotor UAV system based on actuator reliability
Jean Carlo Salazar, Adrián Sanjuan, Fatiha Nejjari, Ramon Sarrate
Abstract
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.
Keywords
prognostics and health management, health-aware control, fault-tolerant control, reliability analysis, octorotor, UAV