Disturbance observer based fault tolerant control of a quadrotor helicopter

Hocaoğlu, Yarkın and Mumcuoğlu, Mehmet Emin and Ünel, Mustafa (2021) Disturbance observer based fault tolerant control of a quadrotor helicopter. In: 47th Annual Conference of the IEEE Industrial Electronics Society (IECON), Toronto, ON, Canada

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In this paper, a fault tolerant control system for a quadrotor helicopter is developed. Fault tolerant controllers have many advantages over regular controllers for keeping midair flight safety and increasing mission reliability. A high-fidelity nonlinear model of a quadrotor is constructed using Newton-Euler formulation where Dryden wind effects and sensor noise are included to simulate real-world fight conditions. For managing accurate full state estimations, an Extended Kalman Filter is utilized. To increase robustness to external disturbances and uncertainties in the plant dynamics, a Velocity-based Disturbance Observer (VbDOB) is constructed and combined with the control law. Simulations carried out with the high fidelity model have shown that the proposed method has successfully compensated for actuator faults in a trajectory tracking task, and hence provides good tracking performance with a feasible control effort.
Item Type: Papers in Conference Proceedings
Uncontrolled Keywords: Disturbance Observer; Extended Kalman Filter; Fault Tolerant Control; Passive FTC; Quadrator
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Mustafa Ünel
Date Deposited: 27 Aug 2022 13:48
Last Modified: 27 Aug 2022 13:48
URI: https://research.sabanciuniv.edu/id/eprint/43875

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