Fault Tolerant Controller Design for the Quadrotor with Variable Actuator Levels
Keywords:
Quadrotor, Fault Tolerant Control, Proportional ControllerAbstract
In this study, proportional controller design is performed for different scenarios using a nonlinear quadrotor model. The state-space model of the quadrotor, whose flight principles are explained, and equations of motion are summarized, is obtained using a Taylor series expansion. Using the model, controller coefficients are designed for both fault-free and faulty conditions and compared. Using the controller gains designed for the fault-free condition, simulations are conducted both in a healthy state and, for comparison purpose, in a faulty state. The comparison reveals that the coefficients designed for the faulty condition exhibited much more robust behavior than those designed for the fault-free condition.
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