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. 2023 Mar 15;9(3):e14494.
doi: 10.1016/j.heliyon.2023.e14494. eCollection 2023 Mar.

Effect of loss of control effectiveness on an inverted pendulum balanced on a moving quadrotor

Jackson Oloo  1
Affiliations

Effect of loss of control effectiveness on an inverted pendulum balanced on a moving quadrotor

Jackson Oloo. Heliyon. .

Abstract

This paper investigates the effect of loss of rotor effectiveness on the states of an inverted pendulum mounted at the center of mass of a moving quadrotor. An adaptive Model Predictive Controller is utilized to develop a controller that enables the quadrotor to track a circular trajectory while experiencing varied degrees of loss of actuator effectiveness. Nominal states of the quad-pendulum system on a circular trajectory are determined from the investigated dynamic equilibria. The performance of the developed fault tolerant controller against the pendulum states is compared with LQR performance in numerical simulations. Recommendations to improve performance against the observed errors are highlighted.

Keywords: Adaptive MPC; LQR controller; Loss of effectiveness; Rotor failure; Weighting matrices.

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Conflict of interest statement

The authors declare no conflict of interest.

Figures

Fig. 1
Fig. 1
Pendulum behavior around the 0-equilibrium point for 40% quadcopter actuator loss of effectiveness. The pendulum could not be balanced with LQR controller at 40% fault. The pendulum position error can be seen to increase with time.
Fig. 2
Fig. 2
Quadrotor attitude control with adaptive MPC. The pitch and roll angles have a limit of 0.5 radians.
Fig. 3
Fig. 3
Quadrotor attitude control with LQR controller.
Fig. 4
Fig. 4
Pendulum behavior around the 0-equilibrium point for 30% quadcopter actuator loss of effectiveness.
Fig. 5
Fig. 5
Quadcopter pitch and roll angles at 30% actuator loss of effectiveness with adaptive model predictive controller.
Fig. 6
Fig. 6
Quadcopter pitch and roll angles at 30% actuator loss of effectiveness with LQR controller.
See this image and copyright information in PMC

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