TY - GEN
T1 - Fault tolerant control of a quadrotor based on parameter estimation techniques and use of a reconfigurable PID controller
AU - He, X.
AU - Chaudemar, J. C.
AU - Huang, J.
AU - Defay, F.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/8/5
Y1 - 2016/8/5
N2 - This paper focuses on the fault tolerant control for a quadrotor. In this paper, both a complete dynamic model of quadrotor and a simple reconfigurable PID controller are presented. Besides, FDD and FTC techniques are developed using parameter estimation techniques. The proposed approach allows to detect and to diagnose faults in a rotor. The main contribution of this article relies on the detailed modelling of a quadrotor and a use of parameter estimation techniques including an expert method based on the knowledge of the system and a logical reasoning.
AB - This paper focuses on the fault tolerant control for a quadrotor. In this paper, both a complete dynamic model of quadrotor and a simple reconfigurable PID controller are presented. Besides, FDD and FTC techniques are developed using parameter estimation techniques. The proposed approach allows to detect and to diagnose faults in a rotor. The main contribution of this article relies on the detailed modelling of a quadrotor and a use of parameter estimation techniques including an expert method based on the knowledge of the system and a logical reasoning.
UR - https://www.scopus.com/pages/publications/84986220309
U2 - 10.1109/MED.2016.7536052
DO - 10.1109/MED.2016.7536052
M3 - 会议稿件
AN - SCOPUS:84986220309
T3 - 24th Mediterranean Conference on Control and Automation, MED 2016
SP - 188
EP - 193
BT - 24th Mediterranean Conference on Control and Automation, MED 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 24th Mediterranean Conference on Control and Automation, MED 2016
Y2 - 21 June 2016 through 24 June 2016
ER -