Mixing Adaptive Fault Tolerant Control of Quadrotor UAV

In this paper, a multiple model adaptive fault tolerant control scheme is proposed based on mixing of the control signals generated by a set of linear quadratic state feedback controllers. Each of these controllers are designed considering closed loop system performance for a particular range of fault. Stability analysis of the proposed scheme is provided. The paper further presents specific design and implementation for motion control of quadrotor unmanned aerial vehicles (UAVs). The designed mixing adaptive controller is tested via real-time experiments on Quanser Qball-X4 UAVs. The experimental results verify the efficiency of the proposed scheme. © 2017 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd31211 116806This work is supported by the Canadian NSERC Discovery Grant 116806 and the Canadian CFI LOF Grant 31211. -