@inproceedings{65c759816a9744baba3b9d28cf857875,
title = "Fault tolerance control for quad-rotor UAV using gain-scheduling in Matlab/Gazebo",
abstract = "Nowadays, multi-rotor Unmanned Aerial Vehicles (UAVs) are deployed widely in different fields to serve multiple purposes. Safety and reliability of multi-rotor system are rapidly growing research area, and enhancing the control design to account for system failure. In this paper, the Fault-Tolerance Control (FTC) is introduced as a method for recovery from failure in quad-rotor UAV actuator in hovering mode. The ultimate aim is to land safely with minimal damage. This research focuses on designing a FTC method that is capable of handling one and/or two rotors failures. Two different controllers are designed and implemented in simulation for controlling the UAV which are Proportional-Integral-Derivative (PID) control and Linear Quadratic Regulator (LQR). LQR shows its effectiveness after comparing both methods responses. Furthermore, a state observer is designed using Linear Quadratic Estimator (LQE). Gain scheduling (GS) method is developed to switch between the controllers of the system in the event of failure. The GS-PID control design is validated in ROS/Gazebo using the new Robotics System Toolbox showing the effectiveness of the proposed method.",
keywords = "Failure, Fault Tolerance Control, Gain-Scheduling, LQE, LQR, Multi-rotor, Quad-copter, UAV",
author = "Fatima Alkhoori and Yahya Zweiri and Younes, {Ahmad Bani} and Tarek Taha and Lakmal Seneviratne",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 4th International Conference on Systems and Informatics, ICSAI 2017 ; Conference date: 11-11-2017 Through 13-11-2017",
year = "2017",
month = jun,
day = "28",
doi = "10.1109/ICSAI.2017.8248272",
language = "British English",
series = "2017 4th International Conference on Systems and Informatics, ICSAI 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "104--109",
booktitle = "2017 4th International Conference on Systems and Informatics, ICSAI 2017",
address = "United States",
}