Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

Romeo Falcon; Hector Rios; Alejandro Dzul

doi:10.1109/ComRob53312.2021.9628504

Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

Romeo Falcon, Hector Rios, Alejandro Dzul

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	75-80
Number of pages	6
ISBN (Electronic)	9781665438254
DOIs	https://doi.org/10.1109/ComRob53312.2021.9628504
State	Published - 2021
Event	23rd Robotics Mexican Congress, COMRob 2021 - Tijuana, Mexico Duration: 27 Oct 2021 → 29 Oct 2021

Publication series

Name	Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021

Conference

Conference	23rd Robotics Mexican Congress, COMRob 2021
Country/Territory	Mexico
City	Tijuana
Period	27/10/21 → 29/10/21

Bibliographical note

Funding 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.

Publisher Copyright:
© 2021 IEEE.

Keywords

Fault Tolerant Control
Quad-Rotor
Robust Control
Rotor Failure

Access to Document

10.1109/ComRob53312.2021.9628504

Cite this

Falcon, R., Rios, H., & Dzul, A. (2021). Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure. In Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021 (pp. 75-80). (Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ComRob53312.2021.9628504

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title = "Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure",

abstract = "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. ",

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Falcon, R, Rios, H & Dzul, A 2021, Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure. in Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021. Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021, Institute of Electrical and Electronics Engineers Inc., pp. 75-80, 23rd Robotics Mexican Congress, COMRob 2021, Tijuana, Mexico, 27/10/21. https://doi.org/10.1109/ComRob53312.2021.9628504

Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure. / Falcon, Romeo; Rios, Hector; Dzul, Alejandro.

Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 75-80 (Proceedings of the 2021 23rd Robotics Mexican Congress, COMRob 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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Active Fault Tolerant Control for a Quad-Rotor in case of a Rotor Failure

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