Mixing Adaptive Fault Tolerant Control of Quadrotor UAV

BÜYÜKKABASAKAL K., Fi̇dan B., Savran A.

Asian Journal of Control, cilt.19, sa.4, ss.1441-1454, 2017 (SCI-Expanded) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 19 Sayı: 4
  • Basım Tarihi: 2017
  • Doi Numarası: 10.1002/asjc.1479
  • Dergi Adı: Asian Journal of Control
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.1441-1454
  • Anahtar Kelimeler: Adaptive control, fault tolerant control, least squares, multiple model control, unmanned aerial vehicles
  • Uşak Üniversitesi Adresli: Evet

Özet

In this paper, a multiple model adaptive fault tolerant control scheme is proposed based on mixing of the control signals generated by a set of linear quadratic state feedback controllers. Each of these controllers are designed considering closed loop system performance for a particular range of fault. Stability analysis of the proposed scheme is provided. The paper further presents specific design and implementation for motion control of quadrotor unmanned aerial vehicles (UAVs). The designed mixing adaptive controller is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme.