Fuzzy-based fault-tolerant control of Micro Aerial Vehicles (MAV) — A preliminary study

Abstract

Unmanned Aerial Vehicles (UAV) has gained popularity in the past decades. This has been widely used throughout the world in the fields of military, surveillance, agriculture, and construction. One of the main problems in Micro Aerial Vehicles (MAV), typically smaller version of UAV, is its ability to detect and tolerate faults inside the system. In this paper, a Fault-Tolerant Control (FTC) will be developed using fuzzy logic and uses battery percentage and degree of ability to hover as the crisp inputs. The fuzzy logic will use five and three membership functions for the Battery Percentage and Degree of Ability to Hover respectively. The output of the controller will be the degree of ability to continue a certain mission. Further studies can include other constraints such as mapping efficiency where neural networks and deep learning can be associated. Thus, making a hybrid system.