Fault-Tolerant Lyapunov-Gain-Scheduled PID Control of a Quadrotor UAV

The work has done in this paper concern the passive fault tolerant control. Based on Gain-Adaptive Proportional-Integral-Derivative (PID) using the approach from the theory of Lyapunov and their application to the model vertical flying drone Quadrotor type, the PID controller with fixed parameters may fail to provide acceptable control performance. To improve the PID control effect, new designs of the Lyapunov gain Scheduled PID controller (LGSPID) were presented in this paper. The proposed techniques were applied to the Quadrotor, where adaptive PID controllers were proposed for fault-tolerant control system in the presence of actuator faults. The parameters of PID controller were adjusted by an adaptation algorithm gradient type, used to tune in real-time the controller gain, the proposed adaptive PID controller was compared with the conventional PID. The obtained results confirm the effectiveness of the proposed method.