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Article Dans Une Revue Journal of Field Robotics Année : 2023

Robust control scheme based on an uncertainty and disturbance estimator for a quadrotor with motor failures

Résumé

This paper proposes a new robust fault tolerant control architecture based on a disturbance observer. The control architecture is composed by a nominal controller and a rotor's fault observer capable to identify and estimate motors' degradation performance. Besides, is designed for a quadrotor vehicle and validated in critical and non critical motors' failures. For both failure cases, each motor performance is analyzed to counteracted the failure and restore the system stability. If the practical stability is not recovered (critical case) a control reconfiguration is performed for safe landing. Experimental tests are carried out in real time to illustrate the effectiveness of the proposed architecture when confronting the stability of the system with aggressive disturbances or uncertainties.

Domaines

Automatique
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Dates et versions

hal-04149356 , version 1 (03-07-2023)

Identifiants

Citer

Julio Betancourt, Vicente Balaguer, Pedro Castillo Garcia, Pedro García, Rogelio Lozano. Robust control scheme based on an uncertainty and disturbance estimator for a quadrotor with motor failures. Journal of Field Robotics, 2023, 40 (5), pp.1115-1129. ⟨10.1002/rob.22174⟩. ⟨hal-04149356⟩
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