Ahmadi, KarimAsadi, DavoodNabavi-Chashmi, Seyed-Yaser2022-08-252022-08-252022Ahmadi, 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), 28-47.2757-6574https://hdl.handle.net/20.500.12395/43003The 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.eninfo:eu-repo/semantics/openAccessFault tolerant controlHata toleranslı kontrolÇok rotorluDoğrusal olmayan dinamik ters çevirmeMultirotorNonlinear dynamic inversionIncrementalArtımlıArticle312847