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

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dc.authoridNabavi Chashmi, Seyed Yaser/0000-0003-1836-2600
dc.authoridAhmadi, Karim/0000-0002-2633-3351
dc.authoridasadi, davood/0000-0002-2066-6016
dc.contributor.authorAsadi, Davood
dc.contributor.authorAhmadi, Karim
dc.contributor.authorNabavi, Seyed Yaser
dc.date.accessioned2025-01-06T17:37:49Z
dc.date.available2025-01-06T17:37:49Z
dc.date.issued2022
dc.description.abstractAs 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.
dc.description.sponsorshipScientific and Technological Research Council of Turkey (TuBTAK) [120M793]
dc.description.sponsorshipThis research is supported by the Scientific and Technological Research Council of Turkey (TuBTAK) with project number [120M793].
dc.identifier.doi10.1007/s42405-021-00412-9
dc.identifier.endpage142
dc.identifier.issn2093-274X
dc.identifier.issn2093-2480
dc.identifier.issue1
dc.identifier.scopus2-s2.0-85114469545
dc.identifier.scopusqualityQ2
dc.identifier.startpage129
dc.identifier.urihttps://doi.org/10.1007/s42405-021-00412-9
dc.identifier.urihttps://hdl.handle.net/20.500.14669/2382
dc.identifier.volume23
dc.identifier.wosWOS:000694616200001
dc.identifier.wosqualityQ4
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringer
dc.relation.ispartofInternational Journal of Aeronautical and Space Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectFault tolerant
dc.subjectNonlinear control
dc.subjectMotor fault
dc.subjectFault detection
dc.subjectAutonomous Emergency Landing
dc.titleFault-tolerant Trajectory Tracking Control of a Quadcopter in Presence of a Motor Fault
dc.typeArticle

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