Nonlinear Fault Tolerant Flight Control of a Quadrotor Vehicle subjected to Complete Loss of Two Rotors

Nonlinear Fault Tolerant Flight Control of a Quadrotor Vehicle subjected to Complete Loss of Two Rotors

Sijbers, Leon (TU Delft Aerospace Engineering; TU Delft Control & Operations)

de Visser, C.C. (mentor)

Delft University of Technology

Aerospace Engineering | Control & Simulation

2018-06-28

Conventional controllers are incapable of controlling a rotor failed quadrotor in high speed flight. In this paper, a fault tolerant controller based on Incremental Nonlinear Dynamic Inversion is proposed to control a quadrotor subjected to the loss of two rotors. A pseudoinverse is used to control the roll and pitch rate to steer the average thrust direction. The proposed controller is implemented on an asymmetric quadrotor and is flown in high wind speeds. Performance comparisons were made between the loss of one or two rotors. The single rotor failure case performed only slightly better than the double rotor failure case in terms of achieved wind speed. The fastest achieved forward flight with 2 rotors was 8 m/s compared to 9.5 m/s with 3 rotors.

Quadrotor
Fault Tolerant Control
UAV
INDI
Primary Axis
Nonlinear control

http://resolver.tudelft.nl/uuid:c71fb351-1d43-4479-8a1c-e4219e860705

2021-06-30

Student theses

master thesis

© 2018 Leon Sijbers