Fault tolerant control of a quadrotor based on incremental nonlinear dynamic inversion

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dc.authorid0000-0002-2066-6016en_US
dc.authorid0000-0002-2633-3351en_US
dc.authorid0000-0003-1836-2600en_US
dc.contributor.authorAhmadi, Karim
dc.contributor.authorAsadi, Davood
dc.contributor.authorNabavi-Chashmi, Seyed-Yaser
dc.date.accessioned2022-08-25T12:14:55Z
dc.date.available2022-08-25T12:14:55Z
dc.date.issued30.04.2022en_US
dc.departmentBaşka Kurumen_US
dc.description.abstractThe 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.en_US
dc.identifier.citationAhmadi, 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.en_US
dc.identifier.endpage47en_US
dc.identifier.issn2757-6574en_US
dc.identifier.issue1en_US
dc.identifier.startpage28en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12395/43003
dc.identifier.volume3en_US
dc.language.isoenen_US
dc.publisherSelçuk Üniversitesien_US
dc.relation.ispartofInternational Journal of Aeronautics and Astronauticsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Başka Kurum Yazarıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.selcuk20240510_oaigen_US
dc.subjectFault Tolerant Controlen_US
dc.subjectHata Toleranslı Kontrolen_US
dc.subjectÇok Rotorluen_US
dc.subjectDoğrusal Olmayan Dinamik Ters Çevirmeen_US
dc.subjectMultirotoren_US
dc.subjectNonlinear Dynamic Inversionen_US
dc.subjectIncrementalen_US
dc.subjectArtımlıen_US
dc.titleFault tolerant control of a quadrotor based on incremental nonlinear dynamic inversionen_US
dc.typeArticleen_US

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