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Communication Dans Un Congrès Année : 2014

Feedback linearization approach for standard and fault tolerant control: application to a quadrotor UAV testbed

Résumé

In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present.These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight.
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Dates et versions

hal-01088968 , version 1 (29-11-2014)

Identifiants

  • HAL Id : hal-01088968 , version 1

Citer

Jihad Ghandour, Samir Aberkane, Jean-Christophe Ponsart. Feedback linearization approach for standard and fault tolerant control: application to a quadrotor UAV testbed. 11th European Workshop on Advanced Control and Diagnosis, ACD 2014, HTW Berlin, University of Applied Sciences, Berlin, Germany, Nov 2014, Berlin, Germany. ⟨hal-01088968⟩
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