Active fault-tolerant control for quadrotors subjected to a complete rotor failure | IEEE Conference Publication | IEEE Xplore

Active fault-tolerant control for quadrotors subjected to a complete rotor failure


Abstract:

This paper deals with the active fault-tolerant control for quadrotors which are subjected to a total rotor failure. Previous studies assume that the fault has been detec...Show More

Abstract:

This paper deals with the active fault-tolerant control for quadrotors which are subjected to a total rotor failure. Previous studies assume that the fault has been detected and isolated and then design a fault-tolerant controller. The present paper proposes a complete active fault-tolerant control system which copes with not only fault detection and isolation but also fault-tolerant control. A novel and efficient fault detection and isolation approach is proposed for the total rotor failure case. An incremental nonlinear dynamic inversion approach is introduced to design the fault-tolerant controller for the quadrotor in the presence of the fault. The complete active fault-tolerant control system enables the quadrotor to achieve any position even after the complete loss of one rotor.
Date of Conference: 28 September 2015 - 02 October 2015
Date Added to IEEE Xplore: 17 December 2015
ISBN Information:
Conference Location: Hamburg, Germany

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