This paper presents a novel nonlinear robust adaptive trajectory tracking control architecture for stabilizing and controlling a quadrotor in the presence of actuator partial faults. The proposed control strategy utilizes an Incremental Nonlinear Dynamic Inversion (INDI) algorithm as the baseline controller in the inner loop and augments a nonlinear model reference adaptive controller in the outer loop to ensure robustness against unmodeled faults. Additionally, a modified PID controller is introduced in the most outer-loop to track the desired path. The effects of actuator faults are modeled by considering sudden variations in motor thrust and torques. To enhance the control algorithm's robustness, a projection operator is employed in the robust adaptive structure. Comparative performance evaluations with a previous successful algorithm implemented on a quadrotor model demonstrate that the proposed controller achieves full controllability of the faulty quadrotor in pitch, roll, and yaw channels in the presence of actuator partial faults up to 50%.
Robust adaptive control incremental nonlinear dynamic inversion actuator fault
Scientific and Technological Research Council of Turkey (TÜBİTAK)
120M793
120M793
Birincil Dil | İngilizce |
---|---|
Konular | Matematik |
Bölüm | Research Article |
Yazarlar | |
Proje Numarası | 120M793 |
Erken Görünüm Tarihi | 29 Nisan 2024 |
Yayımlanma Tarihi | 30 Nisan 2024 |
Yayımlandığı Sayı | Yıl 2024 Cilt: 9 Sayı: 1 |