The performance of Magnetorheological dampers should be analyzed to study the stability of Magnetorheological fluid and its configuration. To this end, in this study a prototype Magnetorheological fluid is presented. The fluid consists of stabilized Silicone dioxide (SiO 2) nanoparticles, Stearic acid, Phosphoric acid and micron-sized soft ferromagnetic carbonyl iron particles. To assure the authentic performance, sedimentation and magneto-rheometry tests are conducted. Also, a prototype of double-tube Magnetorheological damper with double magnetic components is fabricated by using the mentioned magnetorheological fluid characteristics. Damping force measurement test is carried out to measure the damping force in various electrical currents. The Kwok model is employed to examine the analytical model predictions against the experiments. Furthermore, a general evolution is presented using the neural network algorithm. It is demonstrated that the damping force in saturated current is almost five times higher than in the zero current. In addition, the derived evolution for the damping force has a high performance to predict the response of the Magnetorheological damper in other electrical currents.

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In this study, first a model predictive control (MPC) solution is utilized to control the quadrotor model in both fault-free and faulty modes by employing a cost function. For this aim, the obtained non-linear continuous model has been discretized after linearization around an equilibrium point. Then, a fault detection and diagnosis (FDD) and fault tolerant control (FTC) strategy is proposed based on MPC in order to neutralize the effect of fault. The method of FDD and FTC designing is based on analytical redundancy relations (ARRs) which detects and tolerates the fault by producing a residual signal. Therefore, this method presents a complete FTC solution to fault issue without using observer. In addition, this solution has robustness against the uncertainties and disturbances which may challenge the model in practical situations. The discussed fault in this paper is a sensor fault which is modeled as an undesired function which affects the sensor of roll angle. However, the proposed FTC can tolerate all types of faults. The results of implementation of this method are validated under various simulation scenarios.

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