Fault Tolerant Control of a Quadrotor Based on Incremental Nonlinear Dynamic Inversion
Yükleniyor...
Dosyalar
Tarih
2022
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Selçuk Üniversitesi Sivil Havacılık Yüksekokulu
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
The multirotor unmanned aerial vehicles (UAVs) have rapidly attracted interest of the researchers since they play a unique role in a variety of areas including the military, agriculture, rescue, and mining. Actuator fault or failure is inevitable during multi-rotor’s operations, which can endanger humans on the ground in addition to costly damage to the system itself. Therefore, this paper introduces a nonlinear controller algorithm for fault-tolerant control of a quadcopter with partial loss of actuator effectiveness. The introduced controller includes a cascade structure of the fast inner-loop dynamics and slow outer-loop dynamics. In the inner-loop part of the controller, an incremental nonlinear dynamic inversion controller is applied and a modified PID control algorithm is used in the outer-loop of the controller. Simulation results for different fault scenarios demonstrate that the proposed fault-tolerant controller approach can quickly adapt itself to the abrupt change due to the motor faults and tracks the desired inputs satisfactorily.
Açıklama
Anahtar Kelimeler
Fault tolerant control, Hata toleranslı kontrol, Çok rotorlu, Doğrusal olmayan dinamik ters çevirme, Multirotor, Nonlinear dynamic inversion, Incremental, Artımlı
Kaynak
International Journal of Aeronautics and Astronautics
WoS Q Değeri
Scopus Q Değeri
Cilt
3
Sayı
1
Künye
Ahmadi, K., Asadi, D., Nabavi-Chashmi, S. Y. (2022). Fault tolerant control of a quadrotor based on incremental nonlinear dynamic inversion. International Journal of Aeronautics and Astronautics, 3, (1), 28-47.
