Robust Adaptive Control Based on Incremental Nonlinear Dynamic Inversion for a Quadrotor in Presence of Partial Actuator Fault

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dc.contributor.authorDastgerdi, Karim Ahmadi
dc.contributor.authorAsadi, Davood
dc.contributor.authorChashmi, Seyed Yaser Nabavi
dc.contributor.authorTutsoy, Önder
dc.date.accessioned2025-01-06T17:23:18Z
dc.date.available2025-01-06T17:23:18Z
dc.date.issued2024
dc.departmentAdana Alparslan Türkeş Bilim ve Teknoloji Üniversitesi
dc.description.abstractThis paper presents a novel nonlinear robust adaptive trajectory tracking control architecture for stabilizing and controlling a quadrotor in the presence of actuator partial faults. The proposed control strategy utilizes an Incremental Nonlinear Dynamic Inversion (INDI) algorithm as the baseline controller in the inner loop and augments a nonlinear model reference adaptive controller in the outer loop to ensure robustness against unmodeled faults. Additionally, a modified PID controller is introduced in the most outer-loop to track the desired path. The effects of actuator faults are modeled by considering sudden variations in motor thrust and torques. To enhance the control algorithm's robustness, a projection operator is employed in the robust adaptive structure. Comparative performance evaluations with a previous successful algorithm implemented on a quadrotor model demonstrate that the proposed controller achieves full controllability of the faulty quadrotor in pitch, roll, and yaw channels in the presence of actuator partial faults up to 50%.
dc.identifier.doi10.30931/jetas.1169518
dc.identifier.endpage21
dc.identifier.issn2548-0391
dc.identifier.issue1
dc.identifier.startpage1
dc.identifier.trdizinid1237107
dc.identifier.urihttps://doi.org/10.30931/jetas.1169518
dc.identifier.urihttps://search.trdizin.gov.tr/tr/yayin/detay/1237107
dc.identifier.urihttps://hdl.handle.net/20.500.14669/694
dc.identifier.volume9
dc.indekslendigikaynakTR-Dizin
dc.language.isoen
dc.relation.ispartofJournal of Engineering Technology and Applied Sciences
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/openAccess
dc.snmzKA_20241211
dc.subjectRobust adaptive control
dc.subjectincremental nonlinear dynamic inversion
dc.subjectactuator fault
dc.titleRobust Adaptive Control Based on Incremental Nonlinear Dynamic Inversion for a Quadrotor in Presence of Partial Actuator Fault
dc.typeArticle

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