Passive Fault Tolerant Lateral Controller Design For an UAV

Vural S. Y., DAŞDEMİR J., Hajiyev C.

18th International-Federation-of-Automatic-Control (IFAC) Conference on Technology, Culture and International Stability (TECIS), Baku, Azerbaijan, 13 - 15 September 2018, vol.51, pp.446-451 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 51
  • Doi Number: 10.1016/j.ifacol.2018.11.320
  • City: Baku
  • Country: Azerbaijan
  • Page Numbers: pp.446-451
  • Istanbul Technical University Affiliated: Yes

Abstract

In this study a passive lateral fault tolerant controller for an UAV is designed using dynamic inversion (DI) method and robust integral of the signum of the error (RISE) techniques. The details of the methods are summarized As the reference model of the tracking controller, UAV controlled by feedback type controller is used and the control method used for this design is explained. The loss in control effectiveness is modeled as changes in the control distribution matrix. Simulations are made to show the effectiveness of the passive fault tolerant controller in maintaining the lateral control in case of actuator effectiveness loss. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.