Fuzzy control allocation of a positionable rotor quadrotor based on log-barrier optimization and propulsion system fault toleration

IF 2.2 4区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Matin Davoudi Dehkordi, Mohammad Danesh
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Abstract

Herein, a control system and a fault tolerance method for the rotor positionable quadrotor are proposed. Quadrotors that have a variable structure are made for different purposes. The rotor-positionable quadrotor studied here, is a type of drone with a variable structure that has the ability to change the position of its rotors linearly along the axis of each arm. It can be seen that this capability can improve the drone robustness against disturbances and faults in comparison with regular quadcopters. Due to the over-actuated dynamics of this type of quadrotor, the control allocation scheme based on log-barrier optimization is employed to obtain the position and speed of each rotor. In this study, it is experimentally shown that rotor positioning not only reduces power consumption but also increases roll and pitch control inputs magnitude. Furthermore, when a fault occurs as a decrease in rotor speed, a fuzzy method is proposed to position the rotors which tolerates the fault. Finally, numerical simulations and experimental tests verified that rotor positioning can bring more robustness, reduction in power consumption, and fault tolerance in some rotor faults capabilities for quadrotors.

Abstract Image

基于对数屏障优化和推进系统故障容错的可定位转子四旋翼机模糊控制分配
本文提出了转子可定位四旋翼飞行器的控制系统和容错方法。结构可变的四旋翼无人机有不同的用途。本文研究的旋翼可定位四旋翼无人机是一种具有可变结构的无人机,它能够沿每个旋翼臂的轴线线性改变旋翼的位置。可以看出,与普通四旋翼无人机相比,这种能力可以提高无人机对干扰和故障的鲁棒性。由于这种四旋翼飞行器具有过动动力学特性,因此采用了基于对数屏障优化的控制分配方案来获取每个旋翼的位置和速度。实验表明,旋翼定位不仅能降低功耗,还能提高滚动和俯仰控制输入的幅度。此外,当出现转子速度下降的故障时,还提出了一种模糊方法来定位转子,从而容许故障的发生。最后,数值模拟和实验测试验证了转子定位可以为四旋翼飞行器带来更高的鲁棒性、降低功耗以及在某些转子故障中的容错能力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
IET Control Theory and Applications
IET Control Theory and Applications 工程技术-工程:电子与电气
CiteScore
5.70
自引率
7.70%
发文量
167
审稿时长
5.1 months
期刊介绍: IET Control Theory & Applications is devoted to control systems in the broadest sense, covering new theoretical results and the applications of new and established control methods. Among the topics of interest are system modelling, identification and simulation, the analysis and design of control systems (including computer-aided design), and practical implementation. The scope encompasses technological, economic, physiological (biomedical) and other systems, including man-machine interfaces. Most of the papers published deal with original work from industrial and government laboratories and universities, but subject reviews and tutorial expositions of current methods are welcomed. Correspondence discussing published papers is also welcomed. Applications papers need not necessarily involve new theory. Papers which describe new realisations of established methods, or control techniques applied in a novel situation, or practical studies which compare various designs, would be of interest. Of particular value are theoretical papers which discuss the applicability of new work or applications which engender new theoretical applications.
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