On the fault tolerant control of a quadrotor manipulation system via MPC and DOb approaches

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.

Original languageEnglish
Title of host publication2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages700-705
Number of pages6
ISBN (Electronic)9784907764500
DOIs
Publication statusPublished - 2016 Nov 18
Event55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
Duration: 2016 Sep 202016 Sep 23

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
CountryJapan
CityTsukuba
Period16/9/2016/9/23

Keywords

  • Aerial Manipulators
  • Disturbance Observer
  • Fault Tolerant Control
  • Model Predictive Control

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Control and Systems Engineering

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