Fault-tolerant attitude tracking control for a quadrotor aircraft

Abstract

A quaternion-based attitude tracking scheme for a quadrotor subject to external disturbances and partial loss of rotor effectiveness faults is proposed in this paper. In attitude tracking controller design, the indirect robust adaptive control technique is employed to compensate the external disturbances and gyroscopic term, and stable attitude trajectory tracking is achieved. Then, the desired attitude tracking torques are maintained by designing the motor torques in the case of partial loss of rotor effectiveness faults. Based on the on-line estimation of the rotor effectiveness factor, an adaptive fault-tolerant controller is proposed to generate motor torques, where the rotor faults are handled without using the fault detection and diagnosis (FDD) mechanism. Simulation results are provided to demonstrate the performance of the proposed scheme against rotor faults.

Coordinated Turn Trajectory Generation and Tracking Control for Multirotors Operating in Urban Environment

“…In [11], path-following guidance method is presented in the presence of quasi-constant but unknown wind disturbances. A quaternion-based adaptive attitude control for a quad-rotor in the presence of external disturbances is considered in [13].…”

Robust H∞ fault tolerant control for quadrotor attitude regulation

“…[1][2][3][4][5][6] Generally, the quadrotor is naturally unstable, and its hovering ability depends predominantly on its attitude controller, which can prevent the quadrotor from flipping over and crashing. 7,8 Numerous control methods have been adopted to improve the performance of the quadrotor. An adaptive fuzzy sliding mode control approach to regulate the attitude of the quadrotor was presented in Yang and Yan.…”

“…In Shen et al, 8 a quadrotor attitude tracking scheme handling external disturbances and loss of rotor effectiveness faults was studied. In Zhang et al, 30 the fault detection and diagnosis (FDD) and FTC techniques of an unmanned quadrotor were discussed.…”

Estimation, Navigation and Control of Multi-Rotor Drones in an Urban Wind Field

“…One way of enabling reliable UAV operations in urban environment is to design a controller capable of compensating for atmospheric disturbances, see for example [15], [1], [17], [12], [22], [25], [7] and references therein. In [15], the wind eects are estimated by a nonlinear disturbance observer and used to design a path following controller.…”

“…In [22], path-following guidance method is presented in the presence of quasi-constant but unknown wind disturbances. A quaternion-based adaptive attitude control for a quadrotor in the presence of external disturbances is considered in [25].…”