OATAO - Open Archive Toulouse Archive Ouverte Open Access Week

Fault Tolerant Control of a Quadrotor based on Parameter Estimation Techniques and use of a Reconfigurable PID Controller

He, Xie and Chaudemar, Jean-Charles and Huang, J. and Defaÿ, François Fault Tolerant Control of a Quadrotor based on Parameter Estimation Techniques and use of a Reconfigurable PID Controller. (2016) In: 24th Mediterranean conference on control & automation (MED), 21 June 2016 - 24 June 2016 (Athens, Greece).

[img]
Preview
(Document in English)

PDF (Author's version) - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader
438kB

Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7536052

Abstract

This paper focuses on the fault tolerant control for a quadrotor. In this paper, both a complete dynamic model of quadrotor and a simple reconfigurable PID controller are presented. Besides, FDD and FTC techniques are developed using parameter estimation techniques. The proposed approach allows to detect and to diagnose faults in a rotor. The main contribution of this article relies on the detailed modelling of a quadrotor and a use of parameter estimation techniques including an expert method based on the knowledge of the system and a logical reasoning.

Item Type:Conference or Workshop Item (Paper)
Additional Information:ISBN : 978-1-4673-8345-5/16
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Beihang University (CHINA)
Laboratory name:
Statistics:download
Deposited By: jc Chaudemar
Deposited On:31 Aug 2016 11:07

Repository Staff Only: item control page