Fault Tolerant Control Design for Actuator Loss of Effectiveness in Quadrotor Uavs

This paper proposes the design of a fault tolerant control strategy for a quadrotor Unmanned Aerial Vehicle (UAV) subject to Loss of Actuator Effectiveness (LOE) faults. The nominal controller is based on fuzzy logic approach. A fuzzy control is designed and implemented to control a simulation model of the quadrotor and validated experimentally on a DJI F450 quadrotor for attitude control. The diagnosis system is based on the motors speed measurements using integrated speed sensors and the estimation of the Speed / PWM relation. Once a motor failure or the rotor loss of effectiveness is diagnosed, an accommodation algorithm is applied. The latter uses a Fuzzy PID controller. Experimental validation was achieved successively.