Robust Fault Tolerant Position Tracking Control for a Quadrotor UAV in Presence of Actuator Faults

In this paper, a robust fault tolerant controller is designed for an unmanned aerial vehicle (UAV) quadrotor against actuator faults in presence of external disturbances. First, nonlinear dynamic model of the quadrotor is considered as a Linear Parameter Varying (LPV) system in presence of the disturbances and actuator faults. Then, a robust fault tolerant control scheme is proposed by using adaptive estimation of the actuator faults for position tracking problem. For this end, the control input is designed as a summation of a normal control signal in the non-faulty conditions and an adaptive control signal in presence of the actuator faults which makes the tracking error asymptotically stable. Moreover, the H∞ approach is adopted for robustness against the disturbances. The controller parameters can be obtained by solving a set of Linear Matrix Inequalities (LMIs). Simulation results are conducted to illustrate the effectiveness of the designed methodology.

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