Incremental Nonlinear Fault-Tolerant Control of a Quadrotor with Complete Loss of Two Opposing Rotors

26 Oct 2020 Sun Sihao Wang Xuerui Chu Qiping de Visser Coen

In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight condition (> 8m/s). The incremental nonlinear dynamic inversion (INDI) approach which excels in handling model uncertainties is adopted to compensate for the significant unknown aerodynamic effects... (read more)

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  • ROBOTICS
  • SYSTEMS AND CONTROL
  • SYSTEMS AND CONTROL