Fault Detection and Tolerant Control for Aero2 2DOF Two-rotor Helicopter

Khalid Dandago, Long Zhang, Wei Pan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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Stability and satisfactory performance are key
control requirements for any Unmanned Aerial Vehicle (UAV)
application. Although conventional control systems for UAVs
are designed to ensure flight stability and safe operation while
achieving a desired task, a UAV may develop different types
of flight faults that could lead to degradation in performance
or, worse, instability. Unsatisfactory performance or instability
of a UAV poses threats to lives, properties, and the flying
environment. Therefore, it is crucial to design a system that
can detect the occurrence of faults, identify the location at
which the fault occurs, determine the severity of the fault, and
subsequently use this information to accommodate the fault
so that the vehicle can continue to operate satisfactorily. Even
though performance analysis of faults is crucial in selecting the
best strategies for fault detection and tolerance, little has been
done in this regard, especially with real systems. Therefore,
this paper analyzes the performance of a 2-degree-of-freedom
(2DOF) bi-rotor helicopter’s control system in the presence
of various actuator faults. Results from different faulty
conditions indicate that faults degrade the performance of a
conventional control system on UAVs and introduce vibrations
into the system. These findings are more apparent when
a fault leads to asymmetry or imbalance of the system.
However, further experiments have shown that proper fault
diagnosis and accommodation methods could help maintain
satisfactory performance of the system in the presence of faults.
Original languageEnglish
Title of host publicationInternational Conference on Unmanned Aircraft Systems
Publication statusAccepted/In press - May 2024


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