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BFA fuzzy logic based control allocation for fault-tolerant control of multirotor UAVs

Published online by Cambridge University Press:  26 July 2019

M. Saied Open the ORCID record for M. Saied [Opens in a new window] ,
M. Knaiber ,
H. Mazeh ,
H. Shraim  and
C. Francis
M. Saied*
Affiliation:
Faculty of Engineering, Lebanese University, Scientific Research Center in Engineering (CRSI)Beirut, Lebanon
M. Knaiber
Affiliation:
Faculty of Engineering, Lebanese University, Scientific Research Center in Engineering (CRSI)Beirut, Lebanon
H. Mazeh
Affiliation:
Faculty of Engineering, Lebanese University, Scientific Research Center in Engineering (CRSI)Beirut, Lebanon
H. Shraim*
Affiliation:
Faculty of Engineering, Lebanese University, Scientific Research Center in Engineering (CRSI)Beirut, Lebanon
C. Francis*
Affiliation:
Faculty of Engineering, Lebanese University, Scientific Research Center in Engineering (CRSI)Beirut, Lebanon
*
[email protected]
[email protected]
[email protected]
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Abstract

This paper deals with the problem of fault-tolerant control (FTC) for redundant multirotor unmanned aerial vehicles (UAVs) subject to actuators failures. A fuzzy logic approach is used to solve the constrained control allocation problem by adjusting the components of the multiplexing vector once a motor failure is detected. This fuzzy logic allocation problem is tuned using the Bacterial Foraging Algorithm (BFA), a powerful bio-inspired optimisation technique. The effectiveness of this approach is illustrated through real experimental application to a hexarotor UAV, where up to two motors failures are considered.

Keywords

Unmanned Aerial VehiclesFault Tolerant ControlFuzzy Logic
Type
Research Article
Information
The Aeronautical Journal , Volume 123 , Issue 1267 , September 2019 , pp. 1356 - 1373
Copyright
© Royal Aeronautical Society 2019 

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References

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