0

Full Content is available to subscribers

Subscribe/Learn More  >

Fault Tolerant Control Applied to a Quadrotor Unmanned Helicopter

[+] Author Affiliations
Tong Li, Youmin Zhang, Brandon Gordon

Concordia University, Montréal, QC, Canada

Paper No. DETC2011-48806, pp. 1013-1022; 10 pages
doi:10.1115/DETC2011-48806
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME

abstract

In this paper, two sliding mode based fault tolerant control (SM-FTC) strategies are designed, implemented and flight-tested in a physical quadrotor unmanned helicopter under the propeller damage and actuator fault conditions. Sliding model control (SMC) is well known for its capability of handling uncertainty and is expected to be a robust controller. Based on the concept of sliding mode control, both passive and active fault tolerant controls have been designed and experimentally tested on a quadrotor UAV (unmanned aerial vehicle) test-bed, known as Qball-X4, available at Concordia University in the presence of actuator faults and propeller damages. These two types of controllers are carried out and compared through theoretical analysis, simulation, and experimental flight tests on the quadrotor UAV system. Good control performance has been achieved in the presence of actuator faults and propeller damages.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In