Fault/Damage Tolerant Control of a Quadrotor Helicopter UAV using Model Reference Adaptive Control and Gain-Scheduled PID

2011 ◽  
Author(s):  
Iman Sadeghzadeh ◽  
Ankit Mehta ◽  
Youmin Zhang
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Model Reference ◽  
Quadrotor Helicopter ◽  
Damage Tolerant ◽  
Model Reference Adaptive ◽  
Gain Scheduled

Gain Scheduled Set-theoretic Model Reference Adaptive Control

2022 ◽  
Author(s):  
Jesse Jaramillo ◽  
Kevin Wilcher ◽  
Tansel Yucelen ◽  
Medrdad Pakmehr
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Theoretic Model ◽  
Model Reference ◽  
Model Reference Adaptive ◽  
Gain Scheduled

Fault Tolerant Control of a Quadrotor Helicopter Using Model Reference Adaptive Control

2011 ◽  
Author(s):  
Iman Sadeghzadeh ◽  
Ankit Mehta ◽  
Youmin Zhang
Keyword(s):  
Adaptive Control ◽  
Fault Tolerant ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Model Reference Adaptive Control ◽  
Linear Quadratic ◽  
Physical Damage ◽  
Model Reference ◽  
Quadrotor Helicopter ◽  
Model Reference Adaptive

This paper proposes a useful approach to Fault Tolerant Control (FTC) based on the Model Reference Adaptive Control (MRAC) technique with application to a quadrotor helicopter Unmanned Aerial Vehicle (UAV) in hovering as well as trajectory tracking flight in order to control and keep the desired height and trajectory of the quadrotor helicopter in both normal conditions and in the presence of faults in one or more actuators. A Linear Quadratic Regulator (LQR) controller is used in cooperation with the MRAC to control the pitch and roll attitude of the helicopter. Three cases of fault are considered: 1) simulated fault in all the four actuators; 2) simulated fault in back and right motors; 3) a physical damage of 23% of one of the four propellers during autonomous flight. It can be seen from the test results that under the faulty and damage conditions MRAC controller provided a good response of the quadrotor UAV and result in safe landings of the quadrotor.

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