Fault Tolerant Controller Design for the Quadrotor with Variable Actuator Levels

Abstract

In this study, proportional controller design isperformedfor different scenarios using a nonlinear quadrotormodel. The state-space model of the quadrotor, whose flight principles areexplained,and equations of motionaresummarized, isobtained usinga Taylor series expansion. Using the model, controller coefficients aredesigned for both fault-free and faulty conditions and compared. Using the controller gainsdesigned for the fault-free condition, simulations areconducted both in a healthy state and,for comparisonpurpose, in a faulty state.The comparison revealsthat the coefficients designed for the faulty condition exhibited much more robust behavior than those designed for the fault-free condition.

Keywords

• quadrotor
• fault tolerant control
• proportional controller