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

• Published in: IEEE 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
• Language: English
• 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
• ISSN: 0018-9251; 1557-9603
• DOI: 10.1109/TAES.2024.3456749

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.