Adaptive Observer Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure

  • 練 羽軒

Student thesis: Master's Thesis


This paper aims to propose a strategy for quad-rotors flight control under rotor failure The proposed control strategy consists of two stages – FDI (fault detection and isolation) part and the FTC (fault tolerant control) part The control method takes normal flight as well as abnormal flight into consideration The algorithm that switches the control law between the aforementioned two cases relies on the FDI result As a consequence the accuracy of the FDI becomes one of the important issues for field safety flight control To achieve the FDI a model based method for fault detection and fault estimation is developed As for the fault detection an adaptive boundary of the residues generated from the nonlinear observer is applied and the fault alarm is going to be triggered if any of the residues exceeds prescribed upper/lower bounds On the other hands the update law of fault estimation is formed within the stability analysis of state estimation error which requires the application of the nonlinear observer With the combination of the results from fault detection and fault estimation the judgment in deciding whether the fault actually happens or not could be made While fault happening a control strategy that stabilizes the system and keeps the trajectory ability of the quad-rotor is required To this aim a coordinate transformation scheme is applied which corrects the target angles for the quad-rotor to follow a desired trajectory Furthermore in order to achieve robust flight during the external wind perturbation the sliding mode control (SMC) theory is used Finally simulations are applied to illustrate the effectiveness and feasibility of the fault control strategy Numerical results show that the proposed method is able to achieve robust flight even in the presence of rotor failures
Date of Award2018 Jul 20
Original languageEnglish
SupervisorChao-Chung Peng (Supervisor)

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