Fault Tolerant Control of an Over Actuated UAV

The fault tolerant control of over actuated UAVs is addressed. The controller is designed using classical sequential loop closing techniques. Two static control allocation methods are examined: Moore-Penrose pseudo inverse and blended inverse. For this purpose, an aircraft with three sets of ailerons is employed. The blended inverse algorithm is shown to be more effective in controlling the aircraft when some of the control surfaces are lost. It is also demonstrated that, with redundant control surfaces it is possible to recover the aircraft during a maneuver even some of the control surfaces are damaged or stuck