This paper proposes a useful approach to Fault Tolerant Control (FTC) based on the Model Reference Adaptive Control (MRAC) technique with application to a quadrotor helicopter Unmanned Aerial Vehicle (UAV) in hovering as well as trajectory tracking flight in order to control and keep the desired height and trajectory of the quadrotor helicopter in both normal conditions and in the presence of faults in one or more actuators. A Linear Quadratic Regulator (LQR) controller is used in cooperation with the MRAC to control the pitch and roll attitude of the helicopter. Three cases of fault are considered: 1) simulated fault in all the four actuators; 2) simulated fault in back and right motors; 3) a physical damage of 23% of one of the four propellers during autonomous flight. It can be seen from the test results that under the faulty and damage conditions MRAC controller provided a good response of the quadrotor UAV and result in safe landings of the quadrotor.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5480-8
PROCEEDINGS PAPER
Fault Tolerant Control of a Quadrotor Helicopter Using Model Reference Adaptive Control
Iman Sadeghzadeh,
Iman Sadeghzadeh
Concordia University, Montreal, QC, Canada
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Ankit Mehta,
Ankit Mehta
Concordia University, Montreal, QC, Canada
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Youmin Zhang
Youmin Zhang
Concordia University, Montreal, QC, Canada
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Iman Sadeghzadeh
Concordia University, Montreal, QC, Canada
Ankit Mehta
Concordia University, Montreal, QC, Canada
Youmin Zhang
Concordia University, Montreal, QC, Canada
Paper No:
DETC2011-48755, pp. 997-1004; 8 pages
Published Online:
June 12, 2012
Citation
Sadeghzadeh, I, Mehta, A, & Zhang, Y. "Fault Tolerant Control of a Quadrotor Helicopter Using Model Reference Adaptive Control." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 997-1004. ASME. https://doi.org/10.1115/DETC2011-48755
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