Fault-tolerant control with linear quadratic and model predictive control techniques against actuator faults in a quadrotor UAV

摘要

This paper implements and compares the two control algorithms based on linear quadratic (LQ) technique in infinite-time and finite-time horizons applied to a quadrotor helicopter unmanned aerial vehicle (UAV) in the presence of actuator faults. The particular control algorithms applied are linear quadratic regulator (LQR) and model predictive control (MPC) in controlling a quadrotor helicopter UAV testbed (known as Qball-X4) for both the scenarios with and without faults. The fault type considered is actuator fault (loss of control effectiveness). Performance is compared through designing fault-tolerant control for the height control of the Qball-X4. Simulation performance are compared in terms of advantages and limitations of these two control algorithms with application to the Qball-X4.