A Learning-Based Fault Tolerant Tracking Control of an Unmanned Quadrotor Helicopter

2015 ◽  
Vol 84 (1-4) ◽  
pp. 145-162 ◽  
Author(s):  
Zhixiang Liu ◽  
Chi Yuan ◽  
Youmin Zhang ◽  
Jun Luo
Keyword(s):  
Tracking Control ◽  
Fault Tolerant ◽  
Unmanned Quadrotor Helicopter ◽  
Quadrotor Helicopter

Active Disturbance Compensating Tracking Control of an Unmanned Quadrotor Helicopter

2015 ◽  
Author(s):  
Zhixiang Liu ◽  
Xiang Yu ◽  
Chi Yuan ◽  
Youmin Zhang ◽  
Jun Luo
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Stable Operation ◽  
Closed Loop System ◽  
Control Approach ◽  
Unmanned Quadrotor Helicopter ◽  
Quadrotor Helicopter ◽  
Adaptive Compensator ◽  
Feedback Tracking ◽  
Disturbance Estimator

In this paper, a novel active disturbance compensating tracking control method is presented with applications to an unmanned quadrotor helicopter. First, a normal state feedback tracking controller is optimized to guarantee stable operation in a calm environment and then, a retrofit control mechanism including a disturbance estimator and an adaptive compensator are developed that asymptotically stabilize the closed-loop system in the presence of constant external force disturbances. To evaluate the presented scheme, numerical simulations based on a nonlinear quadrotor helicopter model are conducted by comparing the performance of a normal control method and the proposed control approach.

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

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