Active fault-tolerant control for quadrotors subjected to a complete rotor failure

This paper deals with the active fault-tolerant control for quadrotors which are subjected to a total rotor failure. Previous studies assume that the fault has been detected and isolated and then design a fault-tolerant controller. The present paper proposes a complete active fault-tolerant control system which copes with not only fault detection and isolation but also fault-tolerant control. A novel and efficient fault detection and isolation approach is proposed for the total rotor failure case. An incremental nonlinear dynamic inversion approach is introduced to design the fault-tolerant controller for the quadrotor in the presence of the fault. The complete active fault-tolerant control system enables the quadrotor to achieve any position even after the complete loss of one rotor.

[1]  Suresh M. Joshi,et al.  Reconfigurable NDI controller using inertial sensor failure detection & isolation , 2001 .

[2]  Peng Lu,et al.  Sensor Fault Detection and Estimation for Quadrotors Using Kinematic Equations , 2015 .

[3]  Peng Lu,et al.  Robustness and Tuning of Incremental Backstepping Approach , 2015 .

[4]  Jan Albert Mulder,et al.  Robust Flight Control Using Incremental Nonlinear Dynamic Inversion and Angular Acceleration Prediction , 2010 .

[5]  Youmin Zhang,et al.  Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed , 2013, J. Frankl. Inst..

[6]  Sauro Longhi,et al.  Flight control of a quadrotor vehicle subsequent to a rotor failure , 2014 .

[7]  Alireza Mohammad Shahri,et al.  Adaptive Nonlinear Stabilization Control for a Quadrotor UAV: Theory, Simulation and Experimentation , 2013, J. Intell. Robotic Syst..

[8]  Sauro Longhi,et al.  A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles , 2011 .

[9]  Raffaello D'Andrea,et al.  Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[10]  P R Smith,et al.  A SIMPLIFIED APPROACH TO NONLINEAR DYNAMIC INVERSION BASED FLIGHT CONTROL , 1998 .

[11]  Sauro Longhi,et al.  A Diagnostic Thau Observer for a Class of Unmanned Vehicles , 2012, J. Intell. Robotic Syst..

[12]  G. Fay.  Derivation of the Aerodynamic Forces for the Mesicopter Simulation , 2001 .

[13]  Youmin Zhang,et al.  Fault Tolerant Control for Quadrotor via Backstepping Approach , 2010 .

[14]  Vincenzo Lippiello,et al.  Emergency landing for a quadrotor in case of a propeller failure: A backstepping approach , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Peng Lu,et al.  Nonlinear Quadrotor Control with Online Model Identification , 2015 .

[16]  Hassan Noura,et al.  Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer , 2014, J. Intell. Robotic Syst..

[17]  Youmin Zhang,et al.  Fault Tolerant Flight Control Techniques with Application to a Quadrotor UAV Testbed , 2012 .

[18]  Section De Microtechnique,et al.  design and control of quadrotors with application to autonomous flying , 2007 .