Avoiding contingent incidents caused by a quadrotor due to one or two propellers failure

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Date
2023-03-03
Authors
Altınuç, Kemal Orçun
Khan, Muhammad Umer
Iqbal, Jamshed
Journal Title
Journal ISSN
Volume Title
Publisher
PLoS ONE
Abstract
With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.
Description
Open Access, Published by Plos One, https://doi.org/10.1371/journal.pone.0282055, Kemal Orçun Altınuç, Muhammad Umer Khan, Department of Mechatronics Engineering, Atilim University, Ankara, Turkey, Jamshed Iqbal, Department of Computer Science and Technology, Faculty of Science and Engineering, University of Hull, UK.
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Citation
http://hdl.handle.net/20.500.14411/1931