Active Hybrid Fault Tolerant Flight Control of an UAV under Control Surface Damage

Ergocmen B., YAVRUCUK İ.

American Control Conference (ACC), Colorado, Amerika Birleşik Devletleri, 1 - 03 Temmuz 2020, ss.4169-4174 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.23919/acc45564.2020.9147352
  • Basıldığı Şehir: Colorado
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.4169-4174
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

Control surface or actuator faults or failures in any flight lead to system-induced loss of control in-flight (LOC-I) and the result can be fatal. In this paper, to prevent these accidents, an active fault-tolerant flight control (FTFC) is proposed. The system consists of the nonlinear control technique, state-dependent Riccati equation (SDRE) and a linear controller technique. In this paper, control surface damage is studied. To prevent LOC-I, a Reconfiguration Mechanism (RM) sends signals in real-time to the SDRE controller to slow down or accelerate the control surface movement, reconfigures controller with respect to damage or changes to Linear Quadratic Regulator/tracking (LQR/LQT) control due to uncontrollability and unobservability problem. Comparative figures are given to illustrate the effectiveness of the hybrid (SDRE/LQR-LQT+PID) controller architecture.