New regulatory safety standards will soon require unmanned aircraft systems to meet high levels of reliability. There is potential to increase the reliability of such systems without necessarily increasing the number of hardware components. This paper motivates a mix of physical and analytical redundancy in order to increase the system-level reliability of a small unmanned aircraft. The aircraft discussed in this paper has a split rudder for fault-tolerant control. Hardware faults, such as a stuck rudder, need to be detected and isolated in real-time in order for the controller to be reconfigured. In this paper, fight dynamics principles are used to design a model-based filter for detecting and isolating stuck faults in the split rudder of the aircraft. A classical controller is developed in order to make the aircraft robust to stuck rudder faults. The performance and robustness of the filter is evaluated, in closed-loop, through high fidelity simulations. The results in this paper highlight the potential for increasing the reliability of safety-critical aviation systems through analytical redundancy.
|Original language||English (US)|
|Title of host publication||AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015|
|Publisher||American Institute of Aeronautics and Astronautics Inc.|
|State||Published - 2015|
|Event||AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015 - Kissimmee, United States|
Duration: Jan 5 2015 → Jan 9 2015
|Name||AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015|
|Other||AIAA Guidance, Navigation, and Control Conference 2015, MGNC 2015 - Held at the AIAA SciTech Forum 2015|
|Period||1/5/15 → 1/9/15|
Bibliographical noteFunding Information:
The authors would like to thank Brian Taylor for providing support with the simulation environment, experimental data, and ight tests. The authors acknowledge the members of the senior design team that performed the reliability analysis for the Ultra Stick 120: Jeremy Amos, Erik Bergquist, Jay Cole, Justin Phillips, Shawn Reimann, and Simon Shuster. This work was supported by the National Science Foundation under Grant No. NSF/CNS-1329390 entitled ?CPS: Breakthrough: Collaborative Research: Managing Uncertainty in the Design of Safety-Critical Aviation Systems?. Any opinions, findings, and conclusions orrecommendations expressed in this paper are those of the authors and do not necessarily reect the views of the NSF.
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