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. © 2013 IEEE.

Original language	English (US)
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
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 - Jan 1 2013
Externally published	Yes

Bibliographical note

Generated from Scopus record by KAUST IRTS on 2023-10-11

Access to Document

10.1109/CDC.2013.6759988

Cite this

@inproceedings{33a1e093996c46888d57019f8645e593,

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. {\textcopyright} 2013 IEEE.",

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

note = "Generated from Scopus record by KAUST IRTS on 2023-10-11",

year = "2013",

month = jan,

day = "1",

doi = "10.1109/CDC.2013.6759988",

language = "English (US)",

isbn = "9781467357173",

pages = "847--852",

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

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

address = "United States",

}

TY - GEN

T1 - Fault tolerant path following for a quadrotor

AU - Akhtar, Adeel

AU - Waslander, Steven L.

AU - Nielsen, Christopher

N1 - Generated from Scopus record by KAUST IRTS on 2023-10-11

PY - 2013/1/1

Y1 - 2013/1/1

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. © 2013 IEEE.

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. © 2013 IEEE.

UR - http://ieeexplore.ieee.org/document/6759988/

UR - http://www.scopus.com/inward/record.url?scp=84902336194&partnerID=8YFLogxK

U2 - 10.1109/CDC.2013.6759988

DO - 10.1109/CDC.2013.6759988

M3 - Conference contribution

SN - 9781467357173

SP - 847

EP - 852

BT - Proceedings of the IEEE Conference on Decision and Control

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Fault tolerant path following for a quadrotor

Abstract

Bibliographical note

Access to Document

Other files and links

Fingerprint

Cite this