Nonlinear Fault Recovery of a Quadrotor Using Progressive Accommodation

Hajer MLAYEH^1*, Sahbi GHACHEM², Othman NASRI³, Kamel Ben OTHMAN⁴

¹Université 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)
²LARA Automatic, National Engineering School of Tunis, University of Tunis. Tunis,
BP37 Belvedere 1002, Tunisia

³Université de Sousse, Ecole Nationale d’Ingénieurs de Sousse,
LATIS – Laboratory of Advanced Technology and Intelligent Systems,
4023, Sousse, Tunisia
⁴University 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.

>>FULL TEXT: PDF

CITE THIS PAPER AS:
Hajer MLAYEH, Sahbi GHACHEM, Othman NASRI, Kamel Ben OTHMAN, Nonlinear 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