This paper presents an integrated design approach of reliability and reconfigurable control for a quadrotor unmanned aerial vehicle (UAV). An actuator reliability function is proposed and calculated in real time to reconstruct the control command and further to improve the reliability of the quadrotor. The integrated design of reliability and linear quadratic regulator (LQR) control enable the reconfigurable control against actuator malfunctions. Real-word flight tests have illustrated the effectiveness of the proposed reliability-based fault-tolerant control.
Reliability Based LQR Fault-Tolerant Control for a Quadrotor UAV
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch