TY - GEN
T1 - Fault tolerant control of an over actuated UAV
AU - Isik, Sinem
AU - Tekinalp, Ozan
AU - Yavrucuk, Ilkay
PY - 2011
Y1 - 2011
N2 - The fault tolerant control of over actuated UAVs is addressed. The controller is designed using classical sequential loop closing techniques. Two static control allocation methods are examined: Moore-Penrose pseudo inverse and blended inverse. For this purpose, an aircraft with three sets of ailerons is employed. The blended inverse algorithm is shown to be more effective in controlling the aircraft when some of the control surfaces are lost. It is also demonstrated that, with redundant control surfaces it is possible to recover the aircraft during a maneuver even some of the control surfaces are damaged or stuck.
AB - The fault tolerant control of over actuated UAVs is addressed. The controller is designed using classical sequential loop closing techniques. Two static control allocation methods are examined: Moore-Penrose pseudo inverse and blended inverse. For this purpose, an aircraft with three sets of ailerons is employed. The blended inverse algorithm is shown to be more effective in controlling the aircraft when some of the control surfaces are lost. It is also demonstrated that, with redundant control surfaces it is possible to recover the aircraft during a maneuver even some of the control surfaces are damaged or stuck.
UR - http://www.scopus.com/inward/record.url?scp=84880628545&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84880628545
SN - 9781600869525
T3 - AIAA Guidance, Navigation, and Control Conference 2011
BT - AIAA Guidance, Navigation, and Control Conference 2011
T2 - AIAA Guidance, Navigation and Control Conference 2011
Y2 - 8 August 2011 through 11 August 2011
ER -