Fault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault
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Tarih
2022
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Springer
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
Anahtar Kelimeler
Fault tolerant, Nonlinear control, Motor fault, Fault detection, Autonomous Emergency Landing
Kaynak
International Journal of Aeronautical and Space Sciences
WoS Q Değeri
Q4
Scopus Q Değeri
Q2
Cilt
23
Sayı
1
