Sunday , August 9 2020

Nonlinear Fault Recovery of a Quadrotor Using Progressive Accommodation

Hajer MLAYEH1*, Sahbi GHACHEM2, Othman NASRI3, Kamel Ben OTHMAN4

Université de Sousse, Ecole Nationale d’Ingénieurs de Sousse, 4023, Sousse, Tunisia; University of Monastir, National Engineering School of Monastir,
LASEE Research Unit, Ibn Jazzar 5019, Monastir, Tunisia
mlayehhajer@gmail.com (*Corresponding author)
LARA Automatic, National Engineering School of Tunis, University of Tunis. Tunis,
BP37 Belvedere 1002, Tunisia
Université de Sousse, Ecole Nationale d’Ingénieurs de Sousse,
LATIS – Laboratory of Advanced Technology and Intelligent Systems,
4023, Sousse, Tunisia
University of Monastir, National Engineering School of Monastir,
LASEE Research Unit,
Ibn Jazzar 5019, Monastir, Tunisia

Abstract: This paper proposes a nonlinear (NL) fault-tolerant control (FTC) strategy for stabilizing the attitude of a quadrotor affected by multiple rotor failures. The recovery process relies mainly on progressive accommodation (PA) strategy. The latter uses the Newton-Raphson (NR) algorithm in order to solve the state-dependent Riccati Equation (SDRE) in a recursive way. Simulations are performed using the NL model of the quadrotor in fault-free and post-fault cases. Both PA and the direct SDRE methods are employed so that the attitude control of the quadrotor can be stabilized. The results show that the PA strategy performs better than the classical method when it comes to convergence speed and to preserving the control objectives of the nominal system.

Keywords: NL FTC, PA, Quadrotor, SDRE, Rotor failures.

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CITE THIS PAPER AS:
Hajer MLAYEH, Sahbi GHACHEM, Othman NASRI, Kamel Ben OTHMANNonlinear Fault Recovery of a Quadrotor Using Progressive Accommodation, Studies in Informatics and Control, ISSN 1220-1766, vol. 29(1), pp. 67-75, 2020. https://doi.org/10.24846/v29i1y202007