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Paper details
Number 4 - December 2022
Volume 32 - 2022
Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults
Paulin Kantue, Jimoh O. Pedro
Abstract
An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient
actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection
and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach.
The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method
comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one. A time-difference-of-arrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location
and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and
system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust
against incipient actuator faults during straight and level flight and tight turns.
Keywords
fault-tolerant control, quadrocopter, incipient actuator fault, radial basis function neural network