Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference

Fault Tolerant Control of Quadrotor based on Parameter Estimation Techniques and Reconfigurable PID Controller

Authors
He Xie, Jean-Charles Chaudemar, Huang Jun, François Defay
Corresponding Author
He Xie
Available Online December 2015.
DOI
10.2991/jimet-15.2015.173How to use a DOI?
Keywords
quadrotor; fault tolerant control; fault detection and diagnosis; parameter estimation; reconfigurable controller
Abstract

This paper focuses on the fault tolerant control of quadrotor. In this paper, the dynamic model of quadrotor and its measurements model will be given, and a PID controller will be designed based on the models. Then we propose an approach to detect and diagnose the fault of rotor with the help of parameter estimation techniques and adjust the controller to achieve better control results under fault. The proposed fault detection and diagnosis approach is designed for being insensitive to noise of measurements for reliability and robustness.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference
Series
Advances in Computer Science Research
Publication Date
December 2015
ISBN
978-94-6252-129-2
ISSN
2352-538X
DOI
10.2991/jimet-15.2015.173How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - He Xie
AU  - Jean-Charles Chaudemar
AU  - Huang Jun
AU  - François Defay
PY  - 2015/12
DA  - 2015/12
TI  - Fault Tolerant Control of Quadrotor based on Parameter Estimation Techniques and Reconfigurable PID Controller
BT  - Proceedings of the 2015 Joint International Mechanical, Electronic and Information Technology Conference
PB  - Atlantis Press
SP  - 933
EP  - 938
SN  - 2352-538X
UR  - https://doi.org/10.2991/jimet-15.2015.173
DO  - 10.2991/jimet-15.2015.173
ID  - Xie2015/12
ER  -