An Analytical Robust Sensor Fault Detection and Fault Tolerant Control in Quadrotor

Nowadays, because of advancements in technology and increasing use of machine for daily tasks, the optimal use of these devices has become an important issue. Quadrotor is one of tools that are widely used today in various fields of military, agriculture, meteorology, researches, transportation and so on. In this paper, our model is a quadrotor. One of the issues that threaten the optimal performance of today's machines is fault. The fault is any undesired factor that disables the system's performance. The fault can be applied to different parts of an industrial system, including system actuators, sensors or parameters. In this paper, we intend to investigate the sensor fault in a quadrotor model. So that, first the sensor fault is detected and then the fault tolerant control (FTC) algorithm is designed to modify the control signals and eliminate the effect of this fault. The method presented in this paper is an analytical method named analytical redundancy relation (ARR) that can easily detect the fault occurrence and design the fault tolerant control algorithm by using residual signals. Another advantage of this method is its robustness against disturbance and uncertainty in system parameters.