Fault tolerant control of a quadrotor using L-1 adaptive control

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dc.contributor.authorXu, Dan
dc.contributor.authorWhidborne, James F.
dc.contributor.authorCooke, Alastair K.
dc.date.accessioned2016-07-19T13:43:29Z
dc.date.available2016-07-19T13:43:29Z
dc.date.issued2016-01-01
dc.description.abstractPurpose – The growing use of small unmanned rotorcraft in civilian applications means that safe operation is increasingly important. The purpose of this paper is to investigate the fault tolerant properties to faults in the actuators of an L1 adaptive controller for a quadrotor vehicle. Design/methodology/approach – L1 adaptive control provides fast adaptation along with decoupling between adaptation and robustness. This makes the approach a suitable candidate for fault tolerant control of quadrotor and other multirotor vehicles. In the paper, the design of an L1 adaptive controller is presented. The controller is compared to a fixed-gain LQR controller. Findings – The L1 adaptive controller is shown to have improved performance when subject to actuator faults, and a higher range of actuator fault tolerance. Research limitations/implications – The control scheme is tested in simulation of a simple model that ignores aerodynamic and gyroscopic effects. Hence for further work, testing with a more complete model is recommended followed by implementation on an actual platform and flight test. The effect of sensor noise should also be considered along with investigation into the influence of wind disturbances and tolerance to sensor failures. Furthermore, quadrotors cannot tolerate total failure of a rotor without loss of control of one of the degrees of freedom, this aspect requires further investigation. Practical implications – Applying the L1 adaptive controller to a hexrotor or octorotor would increase the reliability of such vehicles without recourse to methods that require fault detection schemes and control reallocation as well as providing tolerance to a total loss of a rotor. Social implications – In order for quadrotors and other similar unmanned air vehicles to undertake many proposed roles, a high level of safety is required. Hence the controllers should be fault tolerant. Originality/value – Fault tolerance to partial actuator/effector faults is demonstrated using an L1 adaptive controller.en_UK
dc.identifier.citationXu D, Whidborne JF, Cooke A. (2016) Fault tolerant control of a quadrotor using L-1 adaptive control. International Journal of Intelligent Unmanned Systems, Volume 4, Issue 1, January 2016, pp. 43-66en_UK
dc.identifier.issn2049-6427
dc.identifier.urihttp://dx.doi.org/10.1108/IJIUS-08-2015-0011
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/10143
dc.language.isoenen_UK
dc.publisherEmeralden_UK
dc.rightsAttribution-NonCommercial 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/
dc.subjectFault tolerant controlen_UK
dc.subjectUAV controlen_UK
dc.subjectL1 adaptive controlen_UK
dc.subjectLQR controlen_UK
dc.subjectQuadrotor controlen_UK
dc.subjectRotor failureen_UK
dc.titleFault tolerant control of a quadrotor using L-1 adaptive controlen_UK
dc.typeArticleen_UK

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