Abstract
This paper aims to propose a strategy for the flight control of quad-rotors under single rotor failure conditions. The proposed control strategy consists of two stages—fault detection (FD) and fault tolerant control (FTC). A dual observer-based strategy for FD and fault estimation is developed. With the combination of the results from both observers, the decision making in whether a fault actually happened or the observed anomaly was caused by an external disturbance could be distinguished. Following the FD result, a control strategy for normal flight, as well as the abnormal one, is presented. The FTC considers a real-time coordinate transformation scheme to manipulate the target angles for the quad-rotor to follow a prescribed trajectory. When a rotor fault happens, it is going to be detected by the dual observers and then the FTC is activated to stabilize the system such that the trajectory following task can still be fulfilled. Furthermore, in order to achieve robust flight in the presence of external wind perturbation, the sliding mode control (SMC) theory is further integrated. Simulations illustrate the effectiveness and feasibility of the proposed method.
Highlights
Quadrotors have been widely used in many fields, such as agriculture, cargo delivery, surveillance, aerial photography, military fields and environmental monitoring [1]
To verify the proposed fault detection and fault control strategies, we consider a couple of simulations
The yaw residue result is not considered, since it is sensitive to the unexpected yaw motion induced by loss of efficiency (LOE) or rotor failure
Summary
Quadrotors have been widely used in many fields, such as agriculture, cargo delivery, surveillance, aerial photography, military fields and environmental monitoring [1]. This reveals that the flying area of quadrotors gradually covers most of the areas where people live. The safety of people under the flying area is a concerned and an important issue. To ensure the safety of flight of the quad-rotor and the safety of people under or nearby the flying area, it is necessary to adopt an appropriate field safety strategy, such as fault-tolerant control, when a quad-rotor is malfunctioning. FTC strategies have been investigated for decades and applied to many different fields. In [2], a speed sensor FTC for electric-vehicle (EV) powertrains was proposed
Sign-in/Register to view highlights & summary 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.
