Fault Tolerant Control for Quadrotor via Backstepping Approach
نویسندگان
چکیده
Different from the previous work for quadrotor which mostly discusses application of different controllers to quadrotor control under normal flight conditions, this paper introduces a new design strategy which considers fault tolerant capability of the quadrotor control problems. By utilizing Passive Fault Tolerant Control Systems (PFTCS) concept with backstepping control approach, the trajectory tracking control of the quadrotor UAV has been achieved and simulation results have shown the effectiveness of the proposed backstepping control with higher controller gains when different levels of actuator faults occur in the quadrotor UAV.
منابع مشابه
IEEE Paper Template in A4 (V1)
This paper deals with the design of a fault tolerant control (FTC) of a quadrotor aircraft system, considering the actuator faults. The attitude dynamic model of quadrotor, taking into account the various parameters which can affect the dynamics of this system in space is presented. Subsequently, based on robust adaptive-backstepping method and taking into account the actuator faults, a new FTC...
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