Saksham Gupta1 Amitabh Sharma1 Aditya Mulgundkar1 Rishabh Dev Yadav2 Spandan Roy1
1 Robotics Research Center,KCIS, IIIT Hyderabad, India 2 Robot Learning and Control (RLC) Lab, University of Manchester, UK
This paper examines the enhancement of quadrotor efficiency through adaptive Fault-Tolerant Con-trol (FTC) in quadrotors amidst operational uncertainties and component inefficiency. State-of-the-art adaptive FTC strategies often assume the uncertainties to be bounded by a constant a priori, leading to ignorance of state-dependent uncertainties. Unattended state-dependent un-certainties that persist can lead to instability, especially under actuator faults. The proposed adaptive FTC offers actuator fault mitigation while tackling unknown (state-dependent) uncertainties via suitably designed adaptive laws. In addition, real-time fault detection and control allocation are used simultaneously to avoid conservative control application. The closed-loop system stability is studied analytically and the effectiveness of the proposed solution is verified on a realistic simulator in comparison to the state of the art.