FAULT-TOLERANT CONTROL OF A QUADROTOR DESPITE THE COMPLETE ROTOR FAILURE

Ali Jebelli, Alireza Najafiyanfar, Arezoo Mahabadi, and Mustapha C. E. Yagoub

Keywords

UAV, fault tolerance, quadrotor, Lyapunov, flying robot

Abstract

In this paper, a control algorithm based on the Lyapunov stability theory and neural network adaptive scheme is proposed to efficiently regulate the position, attitude, and altitude of a quadrotor through a nonlinear dynamic model. Based on the Lyapunov stability theory, the controller allows the system to continue its task correctly even if one or two rotors of the quadrotor stop working and this is achieved without losing stability. Also, in the presence of parametric uncertainties, the coefficients of the controller are adaptively tuned by the neural network method. The obtained results demonstrated the proper performance of the control algorithm based on different operating conditions and scenarios. In fact, the obtained results demonstrated that the proposed controller exhibits desirable transient behaviour and performance stability. Therefore, for operational purposes where the stability and continuation of the quadrotor mission in case of rotor failure is very important, using the controller proposed in this research is very efficient. The proposed control algorithm is easy to implement, compatible with existing quadrotors, and does not significantly affect the overall energy consumption.

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