Affiliation:
1. Department of Aerospace Engineering, Defence Institute of Advanced Technology, Pune, India
2. Research & Development Establishment (Engineers), Pune, India
Abstract
In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.
Subject
Mechanical Engineering,Aerospace Engineering
Cited by
2 articles.
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1. State Estimation based Fault Reconstruction for Tandem Rotor Helicopter with Experimental Validation;2023 CAA Symposium on Fault Detection, Supervision and Safety for Technical Processes (SAFEPROCESS);2023-09-22
2. Attitude-pendulum-sloshing coupled dynamics of quadrotors slung liquid containers;Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering;2022-01-13