Fault Tolerant Controller Design for the Quadrotor with Variable Actuator Levels
In this study, proportional controller design isperformedfor different scenarios using a nonlinear quadrotormodel. The state-space model of the quadrotor, whose flight principles areexplained,and equations of motionaresummarized, isobtained usinga Taylor series expansion. Using the...
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| Format: | Article |
| Language: | English |
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Turkish Air Force Academy
2024-01-01
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| Series: | Havacılık ve Uzay Teknolojileri Dergisi |
| Subjects: | |
| Online Access: | https://jast.hho.msu.edu.tr/index.php/JAST/article/view/557/384 |
| Summary: | In this study, proportional controller design isperformedfor different scenarios using a nonlinear quadrotormodel. The state-space model of the quadrotor, whose flight principles areexplained,and equations of motionaresummarized, isobtained usinga Taylor series expansion. Using the model, controller coefficients aredesigned for both fault-free and faulty conditions and compared. Using the controller gainsdesigned for the fault-free condition, simulations areconducted both in a healthy state and,for comparisonpurpose, in a faulty state.The comparison revealsthat the coefficients designed for the faulty condition exhibited much more robust behavior than those designed for the fault-free condition. |
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| ISSN: | 1304-0448 2148-1059 |