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Fault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault

Fault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Aeronautical and Space Sciences Springer Journals

Fault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault

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References (36)

Publisher
Springer Journals
Copyright
Copyright © The Korean Society for Aeronautical & Space Sciences 2021
ISSN
2093-274X
eISSN
2093-2480
DOI
10.1007/s42405-021-00412-9
Publisher site
See Article on Publisher Site

Abstract

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.

Journal

International Journal of Aeronautical and Space SciencesSpringer Journals

Published: Feb 1, 2022

Keywords: Fault tolerant; Nonlinear control; Motor fault; Fault detection; Autonomous Emergency Landing

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