Fault Tolerance Control for Quad-Rotor UAV

  • Fatima Alkhoori

    Student thesis: Master's Thesis


    Nowadays, multi-rotor Unmanned Arial Vehicles (UAVs) are deployed widely in different fields to serve multiple purposes. Safety and reliability of multi-rotor system is a rapidly growing research area and enhancing the control design to account for system failure is crucial. The controller design should be robust enough to handle noise, uncertainties and different type of system failure. In this work, 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. The research focus is based on designing a FTC method that is capable of handling one and two rotor total failure. A plus configuration quad-rotor platform was chosen for simulation purposes. Two different controllers are implemented for controlling the UAV which are Proportional-Integral-Derivative control and Linear Quadratic Regulator. LQR shows its effectiveness after comparing both methods response. Furthermore, a state observer is designed using Linear Quadratic Gaussian (LQG) method which is a combination between LQR and Linear Quadratic Estimator (LQE). Another model is developed and controlled to account for system failure. Gain scheduling method is deployed to switch between the gains of the two controlled models in the instant of failure. The simulation shows a desired response where both models follow the desired trajectory. The control design is validated in ROS/Gazebo showing the effectiveness of the method. Indexing Terms: Fault Tolerance Control, Failure, UAV, Quad-copter, Multi-rotor, Gain-Scheduling, LQR, LQE, Hovering.
    Date of AwardApr 2017
    Original languageAmerican English
    SupervisorYahya Zweiri (Supervisor)


    • Fault Tolerance Control
    • Failure
    • UAV
    • Quad-copter
    • Multi-rotor
    • Gain-Scheduling
    • LQR
    • LQE
    • Hovering.

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