Avoiding contingent incidents by quadrotors due to one or two propellers failure

Altınuç, Kemal Orçun; Khan, Muhammad Umer; Iqbal, Jamshed

Abstract

With the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.

Citation

Altınuç, K. O., Khan, M. U., & Iqbal, J. (2023). Avoiding contingent incidents by quadrotors due to one or two propellers failure. PLoS ONE, 18(3), Article e0282055. https://doi.org/10.1371/journal.pone.0282055

• Journal Article Type: Article
• Acceptance Date: Feb 6, 2023
• Online Publication Date: Mar 3, 2023
• Publication Date: Mar 1, 2023
• Deposit Date: Mar 17, 2023
• Publicly Available Date: Mar 20, 2023
• Journal: PLoS ONE
• Print ISSN: 1932-6203
• Electronic ISSN: 1932-6203
• Publisher: Public Library of Science
• Peer Reviewed: Peer Reviewed
• Volume: 18
• Issue: 3
• Article Number: e0282055
• DOI: https://doi.org/10.1371/journal.pone.0282055
• Public URL: https://hull-repository.worktribe.com/output/4242021