Skip to main content
SpringerLink
Log in

Adaptive analytical sensor fault detection, estimation and tolerant control of quadrotor in the presence of uncertainty and disturbance

  • Original article
  • Published:
International Journal of System Assurance Engineering and Management Aims and scope Submit manuscript

Abstract

Nowadays, with the advancement of technology and the increasing use of the machine for daily tasks, the optimal use of these devices is of paramount importance. One of the main issues in control and navigation of quadrotors is handling the affected faults by fault tolerant control (FTC) methods. In this paper an adaptive analytical method is proposed in order to estimate the actuator fault of quadrotor in the presence of model uncertainties and external disturbances. In fact the adaptive analytical redundancy relations is employed to detect, estimate and tolerate the faults affected the quadrotor system by updating the control inputs using appropriate adaptation law. In addition it will be shown that the proposed control strategy has robustness against the uncertainties and external disturbances. By using this analytical method, there is no need to use observer in order to fault diagnosis. In the other words we use analytical relation for detection, estimation and tolerant control of fault instead of constructing dual model of system (observer system). This advantage results acceptable outputs in faulty system. Simulation results prove that the proposed FTC methods can maintain the system in a good trajectory tracking situation in faulty conditions.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14

Similar content being viewed by others

Abbreviations

FTC:

Fault tolerant control

AARR:

Adaptive analytical redundancy relation

UAV:

Unmanned aerial vehicle

SMC:

Sliding mode control

PID:

Proportional-integral–differential

AFTC:

Active fault tolerant control

PFTC:

Passive fault tolerant control

FDD:

Fault detection and diagnosis

PV:

Photo voltaic

References

  • Aboutalebi P et al (2018) A novel sensor fault detection in an unmanned quadrotor based on adaptive neural observer. J Intell Rob Syst 90(3–4):473–484

    Article  Google Scholar 

  • Al Younes Y, et al. (2016) Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV. In 2016 international conference on unmanned aircraft systems (ICUAS). IEEE.

  • Babu VM, Das K, and Kumar S (2017) Designing of self tuning PID controller for AR drone quadrotor. In 2017 18th international conference on advanced robotics (ICAR). IEEE

  • Benrezki R, et al. (2015) Passive fault tolerant control of quadrotor UAV using a nonlinear PID. In 2015 IEEE international conference on robotics and biomimetics (ROBIO). IEEE

  • Blanke M et al (2006) Diagnosis and fault-tolerant control, vol 2. Springer

    MATH  Google Scholar 

  • Bouabdallah S, Noth A, and Siegwart R (2004) PID vs LQ control techniques applied to an indoor micro quadrotor. In 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS)(IEEE Cat. No. 04CH37566). IEEE

  • Cen Z et al (2014) Robust fault diagnosis for quadrotor UAVs using adaptive Thau observer. J Intell Rob Syst 73(1–4):573–588

    Article  Google Scholar 

  • Fazal Q, Liaquat M, and Iftikhar M (2016) Robust fault tolerant control of an unmanned aerial vehicle in the presence of actuator faults. In 2016 IEEE/ION position, location and navigation symposium (PLANS). IEEE

  • Hosseinimoghadam SMS, Dashtdar M, Dashtdar M (2021) Fault location in distribution networks with the presence of distributed generation units based on the impedance matrix. J Inst Eng (India) Ser B 102(2):227–236

    Article  Google Scholar 

  • Islam S, Liu P, El Saddik A (2014) Nonlinear adaptive control for quadrotor flying vehicle. Nonlinear Dyn 78(1):117–133

    Article  MathSciNet  Google Scholar 

  • Liu S et al (2019) A fault-tolerant attitude estimation method for quadrotors based on analytical redundancy. Aerosp Sci Technol 93:105290

    Article  Google Scholar 

  • Lyu P et al (2019) An analytical fault diagnosis method for yaw estimation of quadrotors. Control Eng Pract 86:118–128

    Article  Google Scholar 

  • Mayadevi N, Ushakumari S, Vinodchandra S (2014) SCADA-based operator support system for power plant equipment fault forecasting. J Inst Eng (India) Ser B 95(4):369–376

    Article  Google Scholar 

  • Merheb A-R, Noura H, and Bateman F (2013) Passive fault tolerant control of quadrotor uav using regular and cascaded sliding mode control. In 2013 conference on control and fault-tolerant systems (SysTol). IEEE

  • Merheb A-R, Noura H, and Bateman F (2014) Active fault tolerant control of quadrotor uav using sliding mode control. In 2014 international conference on unmanned aircraft systems (ICUAS). IEEE

  • Mohammadi A, Ramezani A (2019) An active actuator fault-tolerant control of a quadrotor based on analytical redundancy relations. Iran J Sci Technol Trans Electr Eng 44(3):1069–1079

    Article  Google Scholar 

  • Mohammadi M, Shahri AM (2013) Adaptive nonlinear stabilization control for a quadrotor UAV: theory, simulation and experimentation. J Intell Rob Syst 72(1):105–122

    Article  Google Scholar 

  • Moradmand A et al (2020b) Fault-tolerant control of inverter for the integration of solar PV under abnormal conditions. J Eng 2020(11):1112–1122

    Article  Google Scholar 

  • Moradmand PA, and Khaloozadeh H (2017) An experimental study of modeling and self-tuning regulator design for an electro-hydro servo-system. In 2017 5th international conference on control, instrumentation, and automation (ICCIA). IEEE

  • Moradmand A, Shafai B, and Saif M (2020) A design procedure for robust actuator and sensor fault detection. In 2020 7th international conference on control, decision and information technologies (CoDIT). IEEE

  • Mouhssine N, et al. (2017) Sensor fault detection of quadrotor using nonlinear parity space relations. In 2017 international conference on electrical and information technologies (ICEIT). IEEE

  • Mukherjee A, Kundu PK, Das A (2021a) Transmission line faults in power system and the different algorithms for identification, classification and localization: a brief review of methods. J Inst Eng (India) Ser B. https://doi.org/10.1007/s40031-020-00530-0

    Article  Google Scholar 

  • Mukherjee A, Kundu PK, Das A (2021b) A differential signal-based fault classification scheme using PCA for long transmission lines. J Inst Eng (India) Ser B 102(3):403–414

    Article  Google Scholar 

  • Najm AA, Ibraheem IK (2019) Nonlinear PID controller design for a 6-DOF UAV quadrotor system. Eng Sci Technol Int J 22(4):1087–1097

    Google Scholar 

  • Nazari S, Shafai B, and Moradmand A (2019) Robust intrusion detection in dynamic networks. In 2019 IEEE conference on control technology and applications (CCTA). IEEE

  • Nian X et al (2020) Robust adaptive fault estimation and fault tolerant control for quadrotor attitude systems. Int J Control 93(3):725–737

    Article  MathSciNet  Google Scholar 

  • Noordin A et al (2020) Adaptive PID controller using sliding mode control approaches for quadrotor UAV attitude and position stabilization. Arab J Sci Eng 46(2):963–981

    Article  Google Scholar 

  • Perez-Alcocer R, Moreno-Valenzuela J (2019) Adaptive control for quadrotor trajectory tracking with accurate parametrization. IEEE Access 7:53236–53247

    Article  Google Scholar 

  • Qin L et al (2017) Active fault-tolerant control for a quadrotor with sensor faults. J Intell Rob Syst 88(2–4):449–467

    Article  Google Scholar 

  • Ray DK et al (2020) Brush fault analysis for Indian DC traction locomotive using DWT-based multi-resolution analysis. J Inst Eng India Ser B 101(4):335–345

    Article  Google Scholar 

  • Rosales C, Soria CM, Rossomando FG (2019) Identification and adaptive PID Control of a hexacopter UAV based on neural networks. Int J Adapt Control Signal Process 33(1):74–91

    Article  MathSciNet  Google Scholar 

  • Sadeghzadeh I, et al. (2011) Fault-tolerant trajectory tracking control of a quadrotor helicopter using gain-scheduled PID and model reference adaptive control. In annual conference of the prognostics and health management society

  • Shafai B, and Moradmand A (2020) Design of an integrated observer structure for robust fault detection. In 2020 IEEE conference on control technology and applications (CCTA). IEEE

  • Sharifi F, et al. (2010) Fault tolerant control of a quadrotor UAV using sliding mode control. In 2010 conference on control and fault-tolerant systems (SysTol). IEEE

  • Song Y, Huang X, Wen C (2017) Robust adaptive fault-tolerant PID control of MIMO nonlinear systems with unknown control direction. IEEE Trans Industr Electron 64(6):4876–4884

    Article  Google Scholar 

  • Tan J et al (2019) Sliding mode fault tolerant control for unmanned aerial vehicle with sensor and actuator faults. Sensors 19(3):643

    Article  Google Scholar 

  • Thakur AK, Kundu PK, Das A (2021) Prediction of unknown fault of induction motor using SVM following decision-directed acyclic graph. J Inst Eng (India) Ser B 102(3):573–583

    Article  Google Scholar 

  • Thomas MS, Bhaskar N, Prakash A (2016) Voltage based detection method for high impedance fault in a distribution system. J Inst Eng (India) Ser B 97(3):413–423

    Article  Google Scholar 

  • Tran T-T, Ge SS, He W (2018) Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters. Int J Control 91(5):1140–1160

    Article  MathSciNet  Google Scholar 

  • Wang B et al (2019) Disturbance observer-based adaptive fault-tolerant control for a quadrotor helicopter subject to parametric uncertainties and external disturbances. Mech Syst Signal Process 120:727–743

    Article  Google Scholar 

  • Xiao B, Hu Q, Zhang Y (2011) Adaptive sliding mode fault tolerant attitude tracking control for flexible spacecraft under actuator saturation. IEEE Trans Control Syst Technol 20(6):1605–1612

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Control Engineering at Electrical and Computer Department, Tarbiat Modares University, Jalal-al-ahmad Highway, 14115-111, Tehran, Iran

    Arman Mohammadi & Amin Ramezani

Authors
  1. Arman Mohammadi
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Amin Ramezani
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Amin Ramezani.

Ethics declarations

Conflict of Interest

The authors declare that they have no conflict of interest.

Funding

No funding.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Mohammadi, A., Ramezani, A. Adaptive analytical sensor fault detection, estimation and tolerant control of quadrotor in the presence of uncertainty and disturbance. Int J Syst Assur Eng Manag 13, 1370–1384 (2022). https://doi.org/10.1007/s13198-021-01481-5

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s13198-021-01481-5

Keywords

Search

Navigation