Print Email Facebook Twitter Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors Title Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors Author Sun, Sihao (Student TU Delft) Wang, Xuerui (TU Delft Aerospace Structures & Computational Mechanics) Chu, Q. P. (TU Delft Control & Simulation) de Visser, C.C. (TU Delft Control & Simulation) Date 2020 Abstract In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (>8 m/s). The incremental nonlinear dynamic inversion approach which excels in handling model uncertainties is adopted to compensate for the significant unknown aerodynamic effects. The internal dynamics of such an underactuated system have been analyzed, and subsequently stabilized by redefining the control output. The proposed method can be generalized to control a quadrotor under single-rotor-failure and nominal conditions. For validation, flight tests have been carried out in a large-scale open jet wind tunnel. The position of a damaged quadrotor can be controlled in the presence of significant wind disturbances. A linear quadratic regulator approach from the literature has been compared to demonstrate the advantages of the proposed nonlinear method in the windy and high-speed flight condition. Subject Air safetyfault tolerant controlnonlinear control systemsunmanned aerial vehiclesUncertaintyAttitude controlAtmospheric modelingRotorsAerodynamicsRobustnessNonlinear dynamical systems To reference this document use: http://resolver.tudelft.nl/uuid:a3271ee7-df7b-46af-a09c-5a2288fd563f DOI https://doi.org/10.1109/TRO.2020.3010626 Embargo date 2022-01-05 ISSN 1552-3098 Source IEEE Transactions on Robotics, 37 (1), 116-130 Bibliographical note Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Part of collection Institutional Repository Document type journal article Rights © 2020 Sihao Sun, Xuerui Wang, Q. P. Chu, C.C. de Visser Files PDF 09160894.pdf 5.35 MB Close viewer /islandora/object/uuid%3Aa3271ee7-df7b-46af-a09c-5a2288fd563f/datastream/OBJ/view