University of Twente Student Theses


Fault tolerance adaptive control allocation for unmanned aerial vehicles

Abdelbadie, M.T.E. (2018) Fault tolerance adaptive control allocation for unmanned aerial vehicles.

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Abstract:This thesis proposes an adaptive control allocation method to account for occurrence of failure in a fully actuated multi-copter system. The model used in this work is a hexa-rotor tilted in a certain configuration that allows it to be a fully actuated vehicle. Among many ways to account for air-crafts failure, adaptive theory is the one used in this work. The method used here has many advantages, it does not require exact knowledge of the fault, but it simply adds an adaptive term that estimates the effect of the failure in the control allocation part. Another advantage is that it only re-distributes the control effort among available actuators without the need to re-configure the whole controller. Furthermore, it can be applied on any baseline controller as long as it has a Lyapunov function whose derivative is negative definite. Backstepping control for position and attitude tracking was designed as a baseline controller. The approach was applied on it and it showed positive results. Simulations were carried out using 20-sim programto confirmthe results given later.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering BSc (56953)
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