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RISS 인기검색어
- 검색키워드
- 저자 : Davood Asadi (검색결과 3 건)
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Fault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault
Davood Asadi,Karim Ahmadi,Seyed Yaser Nabavi 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.1
As a part of emergency landing architecture for multi-rotor, a fault-tolerant trajectory tracking control strategy is proposed in this paper to control a quadcopter in case of a partial motor fault. The introduction of fault-tolerant strategy includes a lightweight fault detection and identification algorithm and a three-loop tracking controller. The lightweight fault detection and identification algorithm identifies the fault based on the controller outputs and the angular rates calculated by a discrete extended Kalman filter. The three-loop controller comprises a cascade structure of a discrete nonlinear adaptive algorithm in the inner-loop and a PID algorithm in the outer-loops of the controller structure. To have more realistic simulations, the gyroscopic effects of rotors and the airframe drag terms are considered in modeling as the model uncertainty. The simulation results demonstrate that the proposed fault-tolerant controller can effectively control the quadcopter in presence of partial motor fault, model uncertainties, and sensor noises. The results also demonstrate the effect of fault detection time delay on the overall control performance.
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Model-based Fault Detection and Identification of a Quadrotor with Rotor Fault
Davood Asadi 한국항공우주학회 2022 International Journal of Aeronautical and Space Sc Vol.23 No.5
Fault detection and identification (FDI) is a challenging and critical process when dealing with nonlinear, unstable, and underactuated systems such as multirotor. This article presents a novel two-stage structure for a fault-tolerant FDI approach for a quadrotor with an actuator fault. The FDI algorithm generates residual signals for fault detection using a model-based approach based on the parity space. The basic idea behind this approach is to leverage measurement coherence by generating residuals via linear combinations of measurement outputs and control inputs over a finite window. The parity vector is generated using the states of the faulty system, which have been filtered using an extended Kalman filter, the inputs, and the healthy quadrotor model. To detect and identify the actuator's partial fault, the residual signal is examined using the exponential forgetting factor recursive least square method. Real-time testbed experiments are used to determine the FDI algorithm's performance and to demonstrate the proposed algorithm's effectiveness in identifying a quadrotor's rotor fault.
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Majid Abdouss,Ebadullah Asadi,Saman Azodi-Deilami,Davood Kordestani,Alireza Rahimi,Somayeh Asadi 한국화학공학회 2014 Korean Journal of Chemical Engineering Vol.31 No.6
We prepared high selective imprinted nanoparticle polymers by a miniemulsion polymerization technique,using risperidone as the template, MAA as the functional monomers, and TRIM as the cross-linker in acetonitrileas solvent. The morphology of the nanoparticles determined by scanning electron microscopy (SEM) images and drugrelease, binding properties and dynamic light scattering (DLS) of molecularly imprinted polymers (MIPs) were studied. Controlled release of risperidone from nanoparticles was investigated through in 1% wt sodium dodecyl sulfate aqueoussolution and by measuring the absorbance by HPLC-UV. The results showed that the imprinted nanoparticles exhibiteda higher binding level and slower release rate than non-imprinted nanoparticles, which contributed to interaction ofrisperidone with imprinted cavities within nanoparticles. Furthermore, the results from HPLC showed good precision(5% for 50.0 g L-1) and recoveries (between 86-91) using MIP from human plasma samples.
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