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Flight Evaluation of a Sliding-Mode Fault-Tolerant Control Scheme

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Sliding-Mode Control and Variable-Structure Systems

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 490))

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Abstract

This chapter describes the development and application of sliding-mode fault-tolerant control schemes to safety critical aerospace scenarios. There is growing literature exploiting the specific and unique properties of sliding modes in the field of fault-tolerant control, but many of the results are more theoretical in nature, and relatively little work has been published describing real implementations of these ideas. This chapter focuses on the development of fault-tolerant sliding-mode controllers for a class of linear parameter varying systems. This class of systems is commonly employed to model different aerospace systems, and so represents a natural starting point for these developments. The chapter describes the implementation of these ideas on a small, unmanned quadrotor UAV, and also piloted flight tests on a full-scale twin-engine civil aircraft.

©2018 IEEE. Reprinted with permission from C Edwards, L Chen, A Khattab, H Alwi, M Sato, “Flight evaluations of sliding mode fault tolerant controllers”, Proceedings of 15th International Workshop on Variable Structure Systems (VSS), pp. 180–185, 2018.

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Notes

  1. 1.

    Adapted from L. Chen, H. Alwi, C. Edwards, and M. Sato, “Flight evaluation of a sliding mode online control allocation scheme for fault tolerant control”, Automatica, vol 114, 2020. Originally published under a CC BY 4.0 license; https://doi.org/10.1016/j.automatica.2020.108829.

  2. 2.

    Reprinted with permission from A Khattab based on his PhD thesis “Fault Tolerant Control of Multi-Rotor Unmanned Aerial Vehicles Using Sliding Mode Based Schemes” [54].

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Acknowledgements

This work has received funding from the European Union Horizon 2020 research and innovation program under grant agreement No. 690811 and the Japan New Energy and Industrial Technology Development Organization under grant agreement No. 062800, as part of the EU/Japan joint research project entitled “Validation of Integrated Safety-enhanced Intelligent flight cONtrol (VISION)”. We gratefully acknowledge the contributions of T. Hosoya, M. Naruoka, J. Kawaguchi, S. Morokuma, H. Ishii, and Y. Sagara from JAXA and Y. Uetake from Nakanihon Air Service for their support in terms of the implementation and evaluations of the SMC scheme on the MuPAL-\(\alpha \).

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Authors and Affiliations

  1. The College of Engineering, Mathematics & Physical Sciences, University of Exeter, Exeter, UK

    Halim Alwi, Christopher Edwards & Ahmed Khattab

  2. Department of Electronic and Electrical Engineering, University College London, London, UK

    Lejun Chen

  3. The Faculty of Advanced Science and Technology, Kumamoto University, (Although the work described here was conducted while he worked for JAXA), Kumamoto, Japan

    Masayuki Sato

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  1. Halim Alwi
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  2. Lejun Chen
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  3. Christopher Edwards
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  4. Ahmed Khattab
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  5. Masayuki Sato
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Correspondence to Christopher Edwards .

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Editors and Affiliations

  1. Department of Electronics and Telecommunication Engineering, State University of Rio de Janeiro (UERJ), Rio de Janeiro, Brazil

    Tiago Roux Oliveira

  2. Department of Control Engineering and Robotics, National Autonomous University of Mexico (UNAM), Mexico City, Mexico

    Leonid Fridman

  3. Department of Electrical Engineering, Federal University of Rio de Janeiro (COPPE/UFRJ), Rio de Janeiro, Brazil

    Liu Hsu

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Alwi, H., Chen, L., Edwards, C., Khattab, A., Sato, M. (2023). Flight Evaluation of a Sliding-Mode Fault-Tolerant Control Scheme. In: Oliveira, T.R., Fridman, L., Hsu, L. (eds) Sliding-Mode Control and Variable-Structure Systems. Studies in Systems, Decision and Control, vol 490. Springer, Cham. https://doi.org/10.1007/978-3-031-37089-2_18

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