Hierarchical Control of a Quadcopter under Stuck Actuator Fault

We propose a hierarchical FTC (Fault Tolerant Control) scheme for trajectory tracking by a quadcopter system under stuck actuator fault and actuator saturation. Both the FDI (Fault Detection and Isolation) and control reconfiguration modules are implemented at the low-level associated with the rotat...

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Bibliographic Details
Published inIFAC-PapersOnLine Vol. 53; no. 2; pp. 4258 - 4263
Main Authors Nguyen, Ngoc Thinh, Prodan, Ionela, Petzke, Felix, Streif, Stefan, Lefèvre, Laurent
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 2020
Subjects
Feedback linearization
FTC
Hierarchical control
NMPC
Quadcopter
Stuck actuator fault
Trajectory tracking
Quadcopter
Stuck actuator fault
Trajectory tracking
FTC
NMPC
Hierarchical control
Feedback linearization
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Summary:We propose a hierarchical FTC (Fault Tolerant Control) scheme for trajectory tracking by a quadcopter system under stuck actuator fault and actuator saturation. Both the FDI (Fault Detection and Isolation) and control reconfiguration modules are implemented at the low-level associated with the rotation dynamics through a NMPC (Nonlinear Model Predictive Control) strategy. The uncontrolled (when under fault) yaw torque is predicted and compensated by the NMPC. It is shown that the overall control scheme succeeds in maintaining trajectory tracking for various fault events (both in the sense of having various stuck values and in the sense of changing the actuator under fault).
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2020.12.2479