Abstract
Fault tolerant control on quadrotors has recently gained more and more attention. A proper fault tolerant control strategy can improve the vehicle's performance in the presence of benign faults, and even save the vehicle and valuable payload in case of severe faults. This paper presents a new fault tolerant control strategy based on Trajectory Linearization Control approach with a special method of transformation from quadrotor mode to tri-rotor mode, and an introduction of extra control DOF. Meanwhile, control command saturation is considered in the proposed fault tolerant control strategy. The maximum fault tolerant capacity for the nominal controller is estimated and specific control strategies are presented according to fault classification. Simulations in the SIMTJLINK/MATLAB environment are presented to verify the control strategy.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
