Modified adaptive discrete-time incremental nonlinear dynamic inversion control for quad-rotors in the presence of motor faults

Unmanned air vehicles are intrinsically non-linear, unstable, uncertain, and prone to a variety of faults, most commonly the motor faults. The main objective of this paper is to develop a faulttolerant control algorithm for the quadrotors with the motor faults. Accordingly, a novel adaptive modified incremental nonlinear dynamic inversion (MINDI) control is proposed to stabilize and control the quad-rotor with partial motor faults. The controller consists of a MINDI controller augmented with a discrete-time nonlinear adaptive algorithm. Since the incremental nonlinear dynamic inversion (INDI) algorithm is essentially based on the sensor measurements, it necessitates the angular rates differentiation and therefore amplifies the high-frequency noises produced by the gyroscopes. The application of derivative filters causes unavoidable internal state delays in the INDI structure. Henceforth, the performance of the controller developed for the unstable and uncertain quadrotors degrades considerably. To address this drawback, this paper proposes the MINDI controller which basically derives the angular accelerations from the angular moment estimations. Furthermore, to increase the robustness of the MINDI against motor faults, a discrete-time adaptive controller has been incorporated. The performance of the proposed controllers is verified both through the nonlinear simulations and testbed experiments. The results are compared with a recent efficient algorithm, which had been implemented on a quad-rotor model.