Quadrotor Fault-Tolerant Constrained Control Using Interval Contractor-Based Adaptive Reference Governor

This article proposes a solution to handle the propeller failure on a quadrotor subject to state and input constraints. A model reference adaptive control law compensates for the fault and the unmodeled quadrotor dynamics, while a robust reference governor (RG) enforces state and input constraints....

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Published inIEEE transactions on aerospace and electronic systems Vol. 61; no. 2; pp. 1409 - 1421
Main Authors Magnani, Guido, Cassaro, Mario, Biannic, Jean-Marc, Evain, Helene, Burlion, Laurent
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Institute of Electrical and Electronics Engineers
Subjects
Aerodynamics
Algorithms
Constraints
Control theory
Engineering Sciences
Fault tolerance
Mathematical models
Model reference adaptive control
Physics
Propellers
Quadrotors
Robustness (mathematics)
Simulation
Uncertainty
Vectors
Vehicle dynamics
Uncertainty
Propellers
Aerodynamics
Vectors
Mathematical models
Vehicle dynamics
Quadrotors
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Abstract This article proposes a solution to handle the propeller failure on a quadrotor subject to state and input constraints. A model reference adaptive control law compensates for the fault and the unmodeled quadrotor dynamics, while a robust reference governor (RG) enforces state and input constraints. Differently from existing works, the governor is built in accordance with the adaptive control law performance guarantees and adapts its propagation model online as soon as a contraction algorithm detects the fault. As shown in the numerical simulation, the solution allows both precise reference tracking and constraint enforcement at the price of reduced conservatism with respect to the usual robust RG scheme.
AbstractList This article proposes a solution to handle the propeller failure on a quadrotor subject to state and input constraints. A model reference adaptive control law compensates for the fault and the unmodeled quadrotor dynamics, while a robust reference governor (RG) enforces state and input constraints. Differently from existing works, the governor is built in accordance with the adaptive control law performance guarantees and adapts its propagation model online as soon as a contraction algorithm detects the fault. As shown in the numerical simulation, the solution allows both precise reference tracking and constraint enforcement at the price of reduced conservatism with respect to the usual robust RG scheme.
Author Cassaro, Mario
Burlion, Laurent
Biannic, Jean-Marc
Magnani, Guido
Evain, Helene
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  organization: Rutgers University, New Brunswick, NJ, USA
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Keywords Uncertainty
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Snippet This article proposes a solution to handle the propeller failure on a quadrotor subject to state and input constraints. A model reference adaptive control law...
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SubjectTerms Aerodynamics
Algorithms
Constraints
Control theory
Engineering Sciences
Fault tolerance
Mathematical models
Model reference adaptive control
Physics
Propellers
Quadrotors
Robustness (mathematics)
Simulation
Uncertainty
Vectors
Vehicle dynamics
Title Quadrotor Fault-Tolerant Constrained Control Using Interval Contractor-Based Adaptive Reference Governor
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