Systems Engineering and Electronics

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Sensor fault-tolerant observer applied in UAV anti-skid braking control under control input constraint

Hui Sun1,*, Jianguo Yan1, Yaohong Qu1, and Jie Ren2   

  1. 1. School of Automation, Northwestern Polytechnical University, Xi’an 710129, China;
    2. Chengdu Aircraft Industrial (Group) Co., Ltd., Chengdu 610091, China
  • Online:2017-02-24 Published:2010-01-03


 This paper proposes a method for addressing the problem of sensor fault-tolerant control (FTC) for anti-skid braking systems (ABSs). When the wheel velocity sensor of the ABS for unmanned aerial vehicles (UAVs) becomes faulty, wheel velocity failure and feedback instability may occur. Firstly, a fault diagnosis and isolation (FDI) method based on a sliding mode observer approach is introduced to detect and isolate the fault of the sensor. When the wheel velocity sensor is in healthy conditions, the observer works in a diagnosis mode. If faults occur in the sensor, it acts as a wheel velocity estimator. Secondly, an FTC strategy, adopting a feedback compensation structure, is designed with input control constraints. In addition, based on the FDI result, a terminal sliding mode (TSM) controller is designed to guarantee that slip-ratio tracks its appropriate reference values in situations where runways change conditions during landing. The control system,switches automatically from control using a wheel velocity sensor to sensor less control mode, so the observer-based FTC scheme is established. It is logical that the ABS keeps observedstate and remains stable when the wheel velocity sensor is broken and during external disturbance. Finally, simulation results show the effectiveness of the proposed method.