Modified adaptive discrete-time incremental nonlinear dynamic inversion control for quad-rotors in the presence of motor faults

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dc.authoridAhmadi, Karim/0000-0002-2633-3351
dc.authoridasadi, davood/0000-0002-2066-6016
dc.authoridNabavi Chashmi, Seyed Yaser/0000-0003-1836-2600
dc.contributor.authorAhmadi, Karim
dc.contributor.authorAsadi, Davood
dc.contributor.authorNabavi-Chashmi, Seyed-Yaser
dc.contributor.authorTutsoy, Önder
dc.date.accessioned2025-01-06T17:36:05Z
dc.date.available2025-01-06T17:36:05Z
dc.date.issued2023
dc.description.abstractUnmanned air vehicles are intrinsically non-linear, unstable, uncertain, and prone to a variety of faults, most commonly the motor faults. The main objective of this paper is to develop a faulttolerant control algorithm for the quadrotors with the motor faults. Accordingly, a novel adaptive modified incremental nonlinear dynamic inversion (MINDI) control is proposed to stabilize and control the quad-rotor with partial motor faults. The controller consists of a MINDI controller augmented with a discrete-time nonlinear adaptive algorithm. Since the incremental nonlinear dynamic inversion (INDI) algorithm is essentially based on the sensor measurements, it necessitates the angular rates differentiation and therefore amplifies the high-frequency noises produced by the gyroscopes. The application of derivative filters causes unavoidable internal state delays in the INDI structure. Henceforth, the performance of the controller developed for the unstable and uncertain quadrotors degrades considerably. To address this drawback, this paper proposes the MINDI controller which basically derives the angular accelerations from the angular moment estimations. Furthermore, to increase the robustness of the MINDI against motor faults, a discrete-time adaptive controller has been incorporated. The performance of the proposed controllers is verified both through the nonlinear simulations and testbed experiments. The results are compared with a recent efficient algorithm, which had been implemented on a quad-rotor model.
dc.description.sponsorshipScientific and Technological Research Council of Turkey (TUBIAK) [120M793]
dc.description.sponsorshipThis research is supported by the Scientific and Technological Research Council of Turkey (TUBIAK) under 3501 program, with project number [120M793] .
dc.identifier.doi10.1016/j.ymssp.2022.109989
dc.identifier.issn0888-3270
dc.identifier.issn1096-1216
dc.identifier.scopus2-s2.0-85144611265
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1016/j.ymssp.2022.109989
dc.identifier.urihttps://hdl.handle.net/20.500.14669/1749
dc.identifier.volume188
dc.identifier.wosWOS:000971967200001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherAcademic Press Ltd- Elsevier Science Ltd
dc.relation.ispartofMechanical Systems and Signal Processing
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectAdaptive control
dc.subjectModified incremental nonlinear dynamic
dc.subjectinversion
dc.subjectMotor fault
dc.subjectMulti -rotor
dc.titleModified adaptive discrete-time incremental nonlinear dynamic inversion control for quad-rotors in the presence of motor faults
dc.typeArticle

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