Ahmad Hably
This presentation is given in french by Pedro Castillo (Dr CNRS, Heudiasyc (https://www.hds.utc.fr/~castillo/dokuwiki/)) during the COPERNIC meetings.
Abstract: In this work a robust and uncomplicated fault tolerant control architecture based on a disturbance observer will be presented. This control scheme is composed by a nominal controller and a motor’s observer capable to identify and estimate motors’ degradation performance. The control structure is designed for a quadrotor vehicle and validated in critical and non critical motors’ failures. A desired threshold is proposed for identifying both cases, moreover, when the critical case appears the system loses a degree of freedom and a simple control reconfiguration is only needed for recovering its stability. Several experimental tests are carried out in real time to illustrate the effectiveness of the proposed architecture.
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