Hierarchical Control of a Quadcopter under Stuck Actuator Fault. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Nguyen, Ngoc Thinh; Prodan, Ionela; Petzke, Felix; Streif, Stefan; Lefèvre, Laurent
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 4258
• Page End: 4263
• Publication Date: 2020
• Subjects: FTC -- Stuck actuator fault -- Trajectory tracking -- Hierarchical control -- Feedback linearization -- NMPC -- Quadcopter; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2479
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: We propose a hierarchical FTC (Fault Tolerant Control) scheme for trajectory tracking by a quadcopter system under stuck actuator fault and actuator saturation. Both the FDI (Fault Detection and Isolation) and control reconfiguration modules are implemented at the low-level associated with the rotation dynamics through a NMPC (Nonlinear Model Predictive Control) strategy. The uncontrolled (when under fault) yaw torque is predicted and compensated by the NMPC. It is shown that the overall control scheme succeeds in maintaining trajectory tracking for various fault events (both in the sense of having various stuck values and in the sense of changing the actuator under fault).