Robust Adaptive Control Based on Incremental Nonlinear Dynamic Inversion for a Quadrotor in Presence of Partial Actuator Fault

Year 2024, Volume: 9 Issue: 1, 1 - 21, 30.04.2024

Karim Ahmadi Dastgerdi , Davood Asadi , Seyed Yaser Nabavi Chashmi , Önder Tutsoy

https://doi.org/10.30931/jetas.1169518

Abstract

This paper presents a novel nonlinear robust adaptive trajectory tracking control architecture for stabilizing and controlling a quadrotor in the presence of actuator partial faults. The proposed control strategy utilizes an Incremental Nonlinear Dynamic Inversion (INDI) algorithm as the baseline controller in the inner loop and augments a nonlinear model reference adaptive controller in the outer loop to ensure robustness against unmodeled faults. Additionally, a modified PID controller is introduced in the most outer-loop to track the desired path. The effects of actuator faults are modeled by considering sudden variations in motor thrust and torques. To enhance the control algorithm's robustness, a projection operator is employed in the robust adaptive structure. Comparative performance evaluations with a previous successful algorithm implemented on a quadrotor model demonstrate that the proposed controller achieves full controllability of the faulty quadrotor in pitch, roll, and yaw channels in the presence of actuator partial faults up to 50%.

Keywords

Robust adaptive control, incremental nonlinear dynamic inversion, actuator fault

Supporting Institution

Scientific and Technological Research Council of Turkey (TÜBİTAK)

Project Number

120M793

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