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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    Title :

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


    Contributors:


    Publication date :

    2019-09-01


    Size :

    685879 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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