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Active Fault Tolerant Control of a quadrotor UAV based on gainscheduled PID control

In this paper, an Active Fault-Tolerant Control (AFTC) technique is developed and applied to an unmanned quadrotor helicopter UAV (Unmanned Aerial Vehicle, known also as Qball-X4) with 6 degrees of freedom based on a Gain-Scheduled Proportional-Integral Derivative (GS-PID) control technique. For implementing such an AFTC system, a Fault-Detection and Diagnosis (FDD) block is essential and implemented to detect and identify the actuator fault. The FDD block is implemented based on the OptiTrack visual feedback for providing information needed by GS-PID to switch from one set of pre-tuned controller gains for normal (pre-fault) condition to another set of controller gains tuned for faulty (post-fault) conditions in the presence of an actuator fault in the Qball-X4 UAV. Finally, experimental testing results are presented to demonstrate the effectiveness of the proposed active fault-tolerant control strategy based on the GS-PID control technique.