Feedback Linearization approach for Standard and Fault Tolerant control: Application to a Quadrotor UAV Testbed

European Workshop on Advanced Control and Diagnosis

Ghandour, J.^1 ; Aberkane, S.^1 ; Ponsart, J.-C.^1

University of Lorraine, CRAN UMR

7039, France^1

关键词: Control problems;    Fault tolerant control;    Feedback linearization approaches;    Feedback linearization technique;    Quad-rotor UAV;    Quadrotor vehicles;    Trajectory following;    Vertical axis;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/570/8/082003/pdf
DOI  :  10.1088/1742-6596/570/8/082003

来源: IOP

【 摘 要 】

In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight.