This paper presents the desing of an active fault tolerant control for the stabilization problem of a Quad-Rotor under the effects of a rotor failure. First, the healthy nonlinear model is presented. Then, the failure scenario is analyzed in order to identify how this affects the dynamics. It is assumed that the failure has been previously isolated. The fault tolerant control design is composed of PID and PD controllers allowing the yaw angular velocity to spin at a constant speed, around the vertical axis, and achieving a regulation task in the position (x,y,z). The closed-loop stability is formally proven. Numerical simulations demonstrates the efficiency of the proposed control strategy.
|Title of host publication||Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - 2021|
|Event||23rd Robotics Mexican Congress, COMRob 2021 - Tijuana, Mexico|
Duration: 27 Oct 2021 → 29 Oct 2021
|Name||Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021|
|Conference||23rd Robotics Mexican Congress, COMRob 2021|
|Period||27/10/21 → 29/10/21|
Bibliographical noteFunding Information:
This work was supported in part by the SEP-CONACYT-ECOS-ANUIES Project 315597. The authors gratefully acknowledge the financial support from TecNM projects, Catedras CONACYT CVU 270504 project 922 and CONACYT CVU 785635.
© 2021 IEEE.
- Fault Tolerant Control
- Robust Control
- Rotor Failure