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Variable-Pitch-Propeller Mechanism Design, and Development of Heliquad for Mid-flight Flipping and Fault-Tolerant-Control
Heliquad is controlled by a unified non-switching cascaded attitude-rate controller, followed by a unique Neural-Network-based reconfigurable control allocation to approximate nonlinear relationship between the control input and actuator command.
Full Attitude Intelligent Controller Design of a Heliquad under Complete Failure of an Actuator
The results clearly indicate that the Heliquad with an intelligent controller provides necessary tracking performance even under a complete loss of one actuator.
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