Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model...

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear...

A recognition model of driving risk based on Belief Rule-Base methodology

This paper aims to recognize driving risks in individual vehicles online based on a data-driven methodology. Existing advanced driver assistance systems (ADAS) have difficulties in effectively processing multi-source heterogeneous driving data. Furthermore, parameters adopted for evaluating the driving risk are limited in these systems. The...

Multivariate spline-based adaptive control of high-performance aircraft with aerodynamic uncertainties

In this paper, a new modular adaptive control system is presented to compensate for aerodynamic uncertainties in high-performance flight control systems. This approach combines nonlinear dynamic inversion with multivariate spline-based adaptive control allocation. A new real-time identification routine for multivariate splines is presented to...

A Hybrid Sensor Based Backstepping Control Approach with its Application to Fault-Tolerant Flight Control

Recently, an incremental type sensor based backstepping (SBB) control approach, based on singular perturbation theory and Tikhonov’s theorem, has been proposed. This Lyapunov function based method uses measurements of control variables and less model knowledge, and it is not susceptible to the model uncertainty caused by fault scenarios. In this...

Online Aerodynamic Model Identification using a Recursive Sequential Method for Multivariate Splines

Avoiding high computational loads is essential to online aerodynamic model identi- fication algorithms, which are at the heart of any model-based adaptive flight control system. Multivariate simplex B-spline (MVSB) methods are excellent function approximation tools for modeling the nonlinear aerodynamics of high performance aircraft. However,...

A novel adaptive kernel method with kernel centers determined by a support vector regression approach

The optimality of the kernel number and kernel centers plays a significant role in determining the approximation power of nearly all kernel methods. However, the process of choosing optimal kernels is always formulated as a global optimization task, which is hard to accomplish. Recently, an algorithm, namely improved recursive reduced least...