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A robust fault-tolerant control algorithm based on a novel modeling method for quadrotor application with accurate fault estimation

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Abstract

This article tries to lower the load of computations and increase the robustness of a fault-tolerant control algorithm for quadrotors. In this method, neglecting the uncertainties, the quadrotor’s dynamics is broken into two simple nonlinear models. A robust unscented Kalman filter is utilized for the fault estimation and reinforces a 2-Sliding Mode Controller. In this case, the unknown faults in multi-actuators are estimated. According to the Lyapunov theory, stability analysis is performed to discuss the reliability of the closed-loop FTC method. In the simulation results, comparing the performance of the proposed method with the performances of passive FTCs and augmented UKF estimators show the lighter computations and higher robustness of the presented algorithm for quadrotors resistant to unknown faults due to the testing scenarios.

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Funding

This work was financially supported by the National Natural Science Foundation of China. The project number is 61966010. Thanks for the help and support of the National Natural Science Foundation of China.

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Authors and Affiliations

  1. Guilin University of Aerospace Technology, Guilin, 541004, Guangxi, China

    Jianqi Wang & Dongmei Wang

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  1. Jianqi Wang
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  2. Dongmei Wang
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Correspondence to Dongmei Wang.

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Appendices

Appendix A

See Table 6 .

Table 6 Summary of UKF algorithm
Full size table

Appendix B

See Tables 7 and 8 .

Table 7 The quadrotor characteristics
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Table 8 Controller coefficients
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Wang, J., Wang, D. A robust fault-tolerant control algorithm based on a novel modeling method for quadrotor application with accurate fault estimation. Evol. Intel. (2024). https://doi.org/10.1007/s12065-024-00921-y

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