Nonlinear Fault Tolerant Flight Control of a Quadrotor Vehicle subjected to Complete Loss of Two Rotors
L.M.C. Sijbers (TU Delft - Aerospace Engineering)
Coen C. de Visser – Mentor
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Abstract
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.