Mixing Adaptive Fault Tolerant Control of Quadrotor UAV
Makaleler > Tam Makale · 2017
Yazarlar: Kemal BÜYÜKKABASAKAL, Baris Fidan, Aydoğan SAVRAN
Asian Journal of Control, SCI Expanded İndekslerine Giren Dergi, Uluslararası, Wos, 2017, cilt 19, ss 1441-1454
DOI: 10.1002/asjc.1479
Özet
Abstract In this paper, a multiple model adaptive fault tolerant control scheme is proposed based on mixing of the control signals generated by a set of linear quadratic state feedback controllers. Each of these controllers are designed considering closed loop system performance for a particular range of fault. Stability analysis of the proposed scheme is provided. The paper further presents specific design and implementation for motion control of quadrotor unmanned aerial vehicles (UAVs). The designed mixing adaptive controller is tested via real‐time experiments on Quanser Qball‐X4 UAVs. The experimental results verify the efficiency of the proposed scheme.