Fault Tolerant Control of Quadrotor based on Parameter Estimation Techniques and Reconfigurable PID Controller
He Xie, Jean-Charles Chaudemar, Huang Jun, François Defay
Available Online December 2015.
- 10.2991/jimet-15.2015.173How to use a DOI?
- quadrotor; fault tolerant control; fault detection and diagnosis; parameter estimation; reconfigurable controller
This paper focuses on the fault tolerant control of quadrotor. In this paper, the dynamic model of quadrotor and its measurements model will be given, and a PID controller will be designed based on the models. Then we propose an approach to detect and diagnose the fault of rotor with the help of parameter estimation techniques and adjust the controller to achieve better control results under fault. The proposed fault detection and diagnosis approach is designed for being insensitive to noise of measurements for reliability and robustness.
- © 2015, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - He Xie AU - Jean-Charles Chaudemar AU - Huang Jun AU - François Defay PY - 2015/12 DA - 2015/12 TI - Fault Tolerant Control of Quadrotor based on Parameter Estimation Techniques and Reconfigurable PID Controller BT - Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference PB - Atlantis Press SP - 933 EP - 938 SN - 2352-538X UR - https://doi.org/10.2991/jimet-15.2015.173 DO - 10.2991/jimet-15.2015.173 ID - Xie2015/12 ER -