Robust Adaptive Control Based on Incremental Nonlinear Dynamic Inversion for a Quadrotor in Presence of Partial Actuator Fault

Authors : Karim Ahmadi Dastgerdi, Davood Asadi, Seyed Yaser Nabavi Chashmi, Önder Tutsoy

Pages : 1-21

Doi:10.30931/jetas.1169518

View : 64 | Download : 70

Publication Date : 2024-04-30

Article Type : Research Paper

Abstract :This paper presents a novel nonlinear robust adaptive trajectory tracking control architecture for stabilizing and controlling a quadrotor in the presence of actuator partial faults. The proposed control strategy utilizes an Incremental Nonlinear Dynamic Inversion (INDI) algorithm as the baseline controller in the inner loop and augments a nonlinear model reference adaptive controller in the outer loop to ensure robustness against unmodeled faults. Additionally, a modified PID controller is introduced in the most outer-loop to track the desired path. The effects of actuator faults are modeled by considering sudden variations in motor thrust and torques. To enhance the control algorithm\'s robustness, a projection operator is employed in the robust adaptive structure. Comparative performance evaluations with a previous successful algorithm implemented on a quadrotor model demonstrate that the proposed controller achieves full controllability of the faulty quadrotor in pitch, roll, and yaw channels in the presence of actuator partial faults up to 50%.
Keywords : Robust adaptive control, incremental nonlinear dynamic inversion, actuator fault