Abstract
This paper addresses the problem of adaptive fault tolerant control of a co-axial octocopter. Due to the redundancy of the actuators, octocopters preserve controllability even when one or more rotors fail for some time interval, or do not function for all times. We propose an adaptive fault tolerant control allocation scheme which copes with rotor failures and ensures stability and full control of the vehicle despite actuators failures. The proposed architecture exhibits a multi-loop control structure: an L1 adaptive controller produces moment commands to track desired angular speeds, and it deals with model uncertainties and disturbances; an adaptive control allocation algorithm computes propeller’s speed in order to track the given commanded moment and desired total thrust, and it deals with partial or total failures of the rotors. Theoretical and simulation results are presented and discussed in order to validate the proposed approach.
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