Fault-Tolerant Control for Quadcopters Under Actuator and Sensor Faults.

Fault detection and diagnosis (FDD) methods and fault-tolerant control (FTC) have been the focus of intensive research across various fields to ensure safe operation, reduce costs, and optimize maintenance tasks. Unmanned aerial vehicles (UAVs), particularly quadcopters or quadrotors, are often prone to faults in sensors and actuators due to their complex dynamics and exposure to various external uncertainties. In this context, this work implements different FDD approaches based on the Kalman filter (KF) for fault estimation to achieve FTC of the quadcopter, considering different faults with nonlinear behaviors and the possibility of simultaneous occurrences in actuators and sensors.

Review, Properties, and Synthesis of Single-Switch Non-Isolated DC-DC Converters with a Wide Conversion Range.

The cascaded connection of power converters extends conversion ranges but requires careful consideration due to high component count and efficiency concerns, as power is processed redundantly. Furthermore, using several active switches that must be turned on simultaneously may introduce significant drive and control complexity. To overcome this limitation, single-switch quadratic DC-DC converters have been proposed in the literature as a prominent choice for various applications, such as light-emitting diode (LED) drivers.

Modified Artificial Potential Field for the Path Planning of Aircraft Swarms in Three-Dimensional Environments.

Path planning techniques are of major importance for the motion of autonomous systems. In addition, the chosen path, safety, and computational burden are essential for ensuring the successful application of such strategies in the presence of obstacles. In this context, this work introduces a modified potential field method that is capable of providing obstacle avoidance, as well as eliminating local minima problems and oscillations in the influence threshold of repulsive fields.