This paper proposes the design of a fault tolerant control strategy for a quadrotor Unmanned Aerial Vehicle (UAV) subject to Loss of Actuator Effectiveness (LOE) faults. The nominal controller is based on fuzzy logic approach. A fuzzy control is designed and implemented to control a simulation model of the quadrotor and validated experimentally on a DJI F450 quadrotor for attitude control. The diagnosis system is based on the motors speed measurements using integrated speed sensors and the estimation of the Speed / PWM relation. Once a motor failure or the rotor loss of effectiveness is diagnosed, an accommodation algorithm is applied. The latter uses a Fuzzy PID controller. Experimental validation was achieved successively.


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    Titel :

    Fault Tolerant Control Design for Actuator Loss of Effectiveness in Quadrotor Uavs


    Beteiligte:
    Guiatni, Mohamed (Autor:in) / Saidani, Habib (Autor:in) / Bouzid, Yasser (Autor:in)


    Erscheinungsdatum :

    01.09.2019


    Format / Umfang :

    685879 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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