Fault-Tolerant Trajectory Tracking Control of a Quadrotor Helicopter Using Gain-Scheduled PID and Model Reference Adaptive Control

Abstract

Based on two successfully and widely used control techniques in many industrial applications under normal (fault-free) operation conditions, the Gain-Scheduled Proportional-Integral-Derivative (GS-PID) control and Model Reference Adaptive Control (MRAC) strategies have been extended, implemented, and experimentally tested on a quadrotor helicopter Unmanned Aerial Vehicle (UAV) test- bed available at Concordia University, for the purpose of investigation of these two typical and different control techniques as two useful Fault-Tolerant Control (FTC) approaches. Controllers are designed and implemented in order to track the desired trajectory of the helicopter in both normal and faulty scenarios of the flight. A Linear Quadratic Regulator (LQR) with integral action controller is also used to control the pitch and roll motion of the quadrotor helicopter. Square trajectory, together with specified autonomous and safe taking-off and landing path, is considered as the testing trajectory and the experimental flight testing results with both GS-PID and MRAC are presented and compared with tracking performance under partial loss of control power due to fault/damage in the propeller of the quadrotor UAV. The performance of both controllers showed to be good. Although GS-PID is easier for development and implementation, MRAC showed to be more robust to faults and noises, and is friendly to be applied to the quadrotor UAV.