ՏԱԿԱԳԻ-ՍՈՒՋԵՆՈՅԻ ՈՉ ՀՍՏԱԿ ՏՐԱՄԱԲԱՆՈՒԹՅԱՆ ՄԵԹՈԴՈՎ ԲԱԶՄԱՌՈՏՈՐ ԱՆՕԴԱՉՈՒ ԹՌՉՈՂ ՍԱՐՔԻ ԽԱՓԱՆԱԿԱՅՈՒՆ ԱՇԽԱՏԱՆՔԻ ՄՇԱԿՈՒՄ ՍԵՆՍՈՐԱՅԻՆ ԽԱՓԱՆՈՒՄՆԵՐԻ ԴԵՊՔՈՒՄ / FAULT-TOLERANT CONTROL MODEL OF MULTIROTOR UAV USING TAKAGI-SUGENO’S FUZZY LOGIC METHOD DURING CRITICAL SENSOR FAILURES

Abstract

This paper presents a multi-rotor UAV fault-tolerant performance model for critical sensor failure detection and control. The Takagi-Sugeno Fuzzy logic method was used as a control algorithm. The model presented in the paper is based on the comparison of the result of the pressure measurement sensor of a multi-rotor UAV with a real, high-precision pressure sensor, depending on which failed sensor is checked and controlled. The presented model ensures failure resistance not only for height but also for roll, pitch, and yaw sensors. The work was carried out in the Simulink software package of the MATLAB software complex, obtaining precise values without feedback linearization to avoid the limitations of the multi-role UAV. As is known, there are various types of drones. The most common and used type is the quadcopter, so the quadcopter was chosen in the work as an example of a multi-legged UAV. As the model shown is designed for a quadcopter, it is also suitable for other types of multi-rotor drones; it is only necessary to modify the drone block to suit the required parameters. Thus, the work presented is applicable and flexible.