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Control techniques to deal with the damage of a quadrotor propeller

Control techniques to deal with the damage of a quadrotor propeller

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This chapter can be considered a tutorial to guide the readers toward the implementation of active fault-tolerant control systems dealing with the damage of a propeller of an unmanned aerial vehicle. The addressed aerial device is a quadrotor with fixed propellers. The presented methodology also supposes to turn off the motor, the opposite of the broken one. In this way, a birotor configuration with fixed propellers is achieved. State-of-the-art approaches, using a PID-based controller and a backstepping controller, are presented in a tutorial form, thus neglecting the stability proofs, to leave room to a fast and concise description of the implementation procedures.

Chapter Contents:

  • 2.1 Introduction
  • 2.2 Problem statement
  • 2.3 Modeling
  • 2.3.1 Quadrotor
  • 2.3.2 Birotor
  • 2.4 Control design
  • 2.4.1 PID control scheme
  • 2.4.2 Backstepping control scheme
  • 2.5 Numerical simulations
  • 2.5.1 Description
  • 2.5.2 Case study
  • 2.6 Conclusion
  • Acknowledgments
  • References

Inspec keywords: three-term control; control nonlinearities; autonomous aerial vehicles; propellers; stability; aircraft control; fault tolerant control; aerospace robotics

Other keywords: backstepping controller; quadrotor propeller; active fault-tolerant control systems; birotor configuration; unmanned aerial vehicle; fixed propellers; tutorial form; aerial device; PID-based controller

Subjects: Telerobotics; Stability in control theory; Nonlinear control systems; Mobile robots; Aerospace control

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