Nonlinear MPC for Quadrotor Fault-Tolerant Control
نویسندگان
چکیده
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, urban aerial mobility. On other hand, unstable underactuated dynamics render them highly susceptible system faults, especially rotor failures. In this work, we propose fault-tolerant controller using nonlinear model predictive control (NMPC) stabilize quadrotor subjected complete failure single rotor. Differently from existing works, which either rely on linear assumptions or resort cascaded structures neglecting input constraints outer-loop, our method leverages full damaged considers thrust constraint each Hence, could effectively perform upset recovery extreme initial conditions. Extensive simulations real-world experiments are conducted validation, demonstrates that proposed NMPC can recover even if occurs during aggressive maneuvers, such as flipping tracking agile trajectories.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3154033