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1. 7. 2017.
RLS-based fault-tolerant tracking control of Multirotor Aerial Vehicles
This paper presents a fault-tolerant PD tracking system for Multirotor Aerial Vehicles (MAV) based on a novel Recursive Least Squares (RLS) Fault Detection and Isolation (FDI) algorithm utilized to diagnose propulsion system faults. As a test platform we investigate an octorotor model, including rigid body dynamics, the gyroscopic effect and motor dynamics. A hover configuration control is extended into an adaptive, fault-tolerant PD tracking controller. The approach is validated within a simulation study that includes a severe triple rotor fault scenario.