The Journal of the Korea institute of electronic communication sciences (한국전자통신학회논문지)

Korea Institute of Electronic Communication Science (한국전자통신학회)
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Active Fault Tolerant Control of Quadrotor Based on Multiple Sliding Surface Control Method

다중 슬라이딩 표면 제어 기법에 기반한 쿼드로터의 능동 결함 허용 제어

  • 황남웅 (한화시스템 미래정보통신연구소 지상전투체계팀) ;
  • 김병수 (경기대학교 대학원 전자공학과)
  • Received : 2021.10.25
  • Accepted : 2022.02.17
  • Published : 2022.02.28
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Abstract

In this paper, we proposed an active fault tolerant control (AFTC) method for the position control of a quadrotor with complete loss of effectiveness of one motor. We obtained the dynamics of a quadrotor using Lagrangian equation without small angle assumption. For detecting the fault on a motor, we designed a fault detection module, which consists of the fault detection and diagnosis (FDD) module and the fault detection and isolation (FDI) module. For the FDD module, we designed a nonlinear observer that observes the states of a quadrotor based on the obtained dynamics. Using the observed states of a quadrotor, we designed residual signals and set the appropriate threshold values of residual signals to detect the fault. Also, we designed an FDI module to identify the fault location using the designed additional conditions. To make a quadrotor track the desired path after detecting the fault of a motor, we designed a fault tolerant controller based on the multiple sliding surface control (MSSC) technique. Finally, through simulations, we verified the effectiveness of the proposed AFTC method for a quadrotor with complete loss of effectiveness of one motor.

본 논문에서는 쿼드로터의 모터 하나가 완전히 고장이 발생한 경우 쿼드로터의 위치 제어를 위한 능동 결함 허용 제어 방법을 제안한다. 소각의 가정 없이 라그랑지 방정식을 사용하여 쿼드로터의 동적 방정식을 구한다. 제안한 방법에서는 모터의 결함 검출을 위해 고장 검출 및 진단(FDD) 모듈과 고장 검출 및 분리(FDI) 모듈로 구성되는 고장 검출모듈을 설계한다. FDD 모듈에서는 구해진 동력학에 기반하여 쿼드로터의 상태를 관측하는 비선형 관측기를 설계한다. 관측된 쿼드로터의 상태들를 이용하여, 유수 신호를 설계하고 결함을 검출하기 위한 유수 신호의 적절한 문턱 값을 설정한다. 또한 설계된 추가 조건을 사용하여 결함 위치를 알아내기 위한 FDI 모듈을 설계한다. 모터의 결함을 검출한 후 쿼드로터가 원하는 경로로 비행하기 위해 다중 슬라이딩 표면 제어 기법에 기반한 결함 허용 제어기를 설계한다. 마지막으로, 모의실험을 통해 제안한 능동 결함 허용 제어 방법이 효용성을 검증한다.

Keywords

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