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Fault-tolerant predictive trajectory tracking of an air vehicle based on acceleration control

Emami, S. A ; Sharif University of Technology | 2020

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  1. Type of Document: Article
  2. DOI: 10.1049/iet-cta.2019.0596
  3. Publisher: Institution of Engineering and Technology , 2020
  4. Abstract:
  5. A novel fault-tolerant model predictive control (MPC)-based trajectory tracking approach for an aerial vehicle is presented in this study. A generalised online sequential extreme learning machine is introduced first to identify the corresponding coefficients of actuator faults. Subsequently, a robust trajectory tracking control is developed based on MPC, where the system constraints can be effectively considered in the designed control scheme. Trajectory tracking control is achieved by controlling only the acceleration of the aerial robot in the MPC structure. This leads to less computational burden and faster closed-loop dynamics. In addition, an effective disturbance observer is employed, which can satisfactorily capture the effects of unmodelled dynamics and external disturbances on the system dynamics. The stability of the proposed control algorithm is proved based on the Lyapunov theory under realistic assumptions. Finally, the proposed control strategy is applied to a quadrotor unmanned aerial vehicle. Both simulation and experimental results are presented to demonstrate the effectiveness of the introduced fault-tolerant control scheme. The obtained results suggest that the designed control approach is capable of stabilising the attitude and providing acceptable performance in tracking a predefined trajectory in a threedimensional environment in the simultaneous presence of actuator faults and external disturbances. © The Institution of Engineering and Technology 2019
  6. Keywords:
  7. Actuators ; Aircraft control ; Aircraft detection ; Antennas ; Computation theory ; Fault tolerance ; Fault tolerant computer systems ; Learning systems ; Model predictive control ; Navigation ; Predictive control systems ; Trajectories ; Vehicles ; Acceptable performance ; External disturbances ; Fault tolerant control ; Online sequential extreme learning machine ; Quadrotor unmanned aerial vehicles ; Robust trajectory tracking control ; Three-dimensional environment ; Trajectory tracking control ; Acceleration control
  8. Source: IET Control Theory and Applications ; Volume 14, Issue 5 , 2020 , Pages 750-762
  9. URL: https://ietresearch.onlinelibrary.wiley.com/doi/10.1049/iet-cta.2019.0596