Actuator Fault Tolerant Position Control of a Quadrotor Unmanned Aerial Vehicle

摘要

In this paper we design a fault tolerant single-loop position control of a quadrotor unmanned aerial vehicle. We design a nominal control law by using a feedback linearisation approach. The controlled variables are decoupled using higher order derivatives of the model. We propose an active fault tolerant controller to cope with multiplicative faults affecting the actuators: a nonlinear diagnostic observer is adopted to estimate the fault magnitude, while a control allocation algorithm is used to compensate for the presence of actuator faults. Numerical simulations show the increased tracking capabilities of the proposed scheme with respect to the non tolerant one.