Adaptive analytical sensor fault detection, estimation and tolerant control of quadrotor in the presence of uncertainty and disturbance

Nowadays, with the advancement of technology and the increasing use of the machine for daily tasks, the optimal use of these devices is of paramount importance. One of the main issues in control and navigation of quadrotors is handling the affected faults by fault tolerant control (FTC) methods. In this paper an adaptive analytical method is proposed in order to estimate the actuator fault of quadrotor in the presence of model uncertainties and external disturbances. In fact the adaptive analytical redundancy relations is employed to detect, estimate and tolerate the faults affected the quadrotor system by updating the control inputs using appropriate adaptation law. In addition it will be shown that the proposed control strategy has robustness against the uncertainties and external disturbances. By using this analytical method, there is no need to use observer in order to fault diagnosis. In the other words we use analytical relation for detection, estimation and tolerant control of fault instead of constructing dual model of system (observer system). This advantage results acceptable outputs in faulty system. Simulation results prove that the proposed FTC methods can maintain the system in a good trajectory tracking situation in faulty conditions.