In this paper, an active fault tolerant control (AFTC) framework is presented, with the ability to automatically estimate and compensate for the Loss Of Effectiveness (LOE) of all actuators of a quadcopter Unmanned Air Vehicle (UAV), while achieving trajectory tracking. The aforementioned AFTC framework consists of a reconfigurable controller based on Nonlinear Model Predictive Control (NMPC), and a fault detection and diagnosis (FDD) module based on a simple and computationally cheap nonlinear algebraic observer algorithm. The presented FDD module estimates the multiplicative faults in all quadcopter actuators simultaneously in an accurate and timely manner. A nonlinear simulation validates the proposed framework and proves a precise trajectory tracking performance in the presence of 4 simultaneous actuator faults. Furthermore, simulation results show that this framework is numerically tractable and real-time applicable, as the ratio of run-time to simulation time is much less than one.
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