Fault tolerant path following for a quadrotor

Adeel Akhtar; Steven L. Waslander; Christopher Nielsen

doi:10.1109/CDC.2013.6759988

Fault tolerant path following for a quadrotor

Adeel Akhtar, Steven L. Waslander, Christopher Nielsen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

23 Scopus citations

Abstract

This paper presents a path following controller for a quadrotor UAV experiencing a single rotor failure. A smooth, dynamic feedback control law is proposed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired velocity profile along the path when one out of four motors is completely disabled due to failure. The nonlinear model of the quadrotor is transformed into a partially linear model by a coordinate and feedback transformation. A path following controller is designed for transformed system that guarantees invariance of the path. The uncontrolled nonlinear portion of the dynamics (internal dynamics) are shown to be bounded.

Original language	English (US)
Title of host publication	2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	847-852
Number of pages	6
ISBN (Print)	9781467357173
DOIs	https://doi.org/10.1109/CDC.2013.6759988
State	Published - 2013
Externally published	Yes
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: Dec 10 2013 → Dec 13 2013

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	52nd IEEE Conference on Decision and Control, CDC 2013
Country/Territory	Italy
City	Florence
Period	12/10/13 → 12/13/13

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2013.6759988

Cite this

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title = "Fault tolerant path following for a quadrotor",

abstract = "This paper presents a path following controller for a quadrotor UAV experiencing a single rotor failure. A smooth, dynamic feedback control law is proposed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired velocity profile along the path when one out of four motors is completely disabled due to failure. The nonlinear model of the quadrotor is transformed into a partially linear model by a coordinate and feedback transformation. A path following controller is designed for transformed system that guarantees invariance of the path. The uncontrolled nonlinear portion of the dynamics (internal dynamics) are shown to be bounded.",

author = "Adeel Akhtar and Waslander, {Steven L.} and Christopher Nielsen",

year = "2013",

doi = "10.1109/CDC.2013.6759988",

language = "English (US)",

isbn = "9781467357173",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "847--852",

booktitle = "2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013",

address = "United States",

note = "52nd IEEE Conference on Decision and Control, CDC 2013 ; Conference date: 10-12-2013 Through 13-12-2013",

}

Akhtar, A, Waslander, SL & Nielsen, C 2013, Fault tolerant path following for a quadrotor. in 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013., 6759988, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 847-852, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 12/10/13. https://doi.org/10.1109/CDC.2013.6759988

Fault tolerant path following for a quadrotor. / Akhtar, Adeel; Waslander, Steven L.; Nielsen, Christopher.
2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013. Institute of Electrical and Electronics Engineers Inc., 2013. p. 847-852 6759988 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Akhtar, Adeel

AU - Waslander, Steven L.

AU - Nielsen, Christopher

PY - 2013

Y1 - 2013

N2 - This paper presents a path following controller for a quadrotor UAV experiencing a single rotor failure. A smooth, dynamic feedback control law is proposed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired velocity profile along the path when one out of four motors is completely disabled due to failure. The nonlinear model of the quadrotor is transformed into a partially linear model by a coordinate and feedback transformation. A path following controller is designed for transformed system that guarantees invariance of the path. The uncontrolled nonlinear portion of the dynamics (internal dynamics) are shown to be bounded.

AB - This paper presents a path following controller for a quadrotor UAV experiencing a single rotor failure. A smooth, dynamic feedback control law is proposed that allows the quadrotor to follow both closed and non-closed embedded curves while maintaining a desired velocity profile along the path when one out of four motors is completely disabled due to failure. The nonlinear model of the quadrotor is transformed into a partially linear model by a coordinate and feedback transformation. A path following controller is designed for transformed system that guarantees invariance of the path. The uncontrolled nonlinear portion of the dynamics (internal dynamics) are shown to be bounded.

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BT - 2013 IEEE 52nd Annual Conference on Decision and Control, CDC 2013

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 52nd IEEE Conference on Decision and Control, CDC 2013

Y2 - 10 December 2013 through 13 December 2013

ER -

Fault tolerant path following for a quadrotor

Abstract

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Conference

All Science Journal Classification (ASJC) codes

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