article.page.titleprefix
Avoiding contingent incidents caused by a quadrotor due to one or two propellers failure

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dc.contributor.authorAltınuç, Kemal Orçun
dc.contributor.authorKhan, Muhammad Umer
dc.contributor.authorIqbal, Jamshed
dc.date.accessioned2023-12-26T08:25:37Z
dc.date.available2023-12-26T08:25:37Z
dc.date.issued2023-03-03
dc.descriptionOpen Access, Published by Plos One, https://doi.org/10.1371/journal.pone.0282055, Kemal Orçun Altınuç, Muhammad Umer Khan, Department of Mechatronics Engineering, Atilim University, Ankara, Turkey, Jamshed Iqbal, Department of Computer Science and Technology, Faculty of Science and Engineering, University of Hull, UK.
dc.description.abstractWith the increasing impact of drones in our daily lives, safety issues have become a primary concern. In this study, a novel supervisor-based active fault-tolerant (FT) control system is presented for a rotary-wing quadrotor to maintain its pose in 3D space upon losing one or two propellers. Our approach allows the quadrotor to make controlled movements about a primary axis attached to the body-fixed frame. A multi-loop cascaded control architecture is designed to ensure robustness, stability, reference tracking, and safe landing. The altitude control is performed using a proportional-integral-derivative (PID) controller, whereas linear-quadratic-integral (LQI) and model-predictive-control (MPC) have been investigated for reduced attitude control and their performance is compared based on absolute and mean-squared error. The simulation results affirm that the quadrotor remains in a stable region, successfully performs the reference tracking, and ensures a safe landing while counteracting the effects of propeller(s) failures.
dc.identifier.citationhttp://hdl.handle.net/20.500.14411/1931
dc.identifier.issn1932-6203
dc.identifier.urihttps://doi.org/10.1371/journal.pone.0282055
dc.language.isoen
dc.publisherPLoS ONE
dc.relation.ispartofseries18; 3
dc.titleAvoiding contingent incidents caused by a quadrotor due to one or two propellers failure
dc.typeArticle
dspace.entity.typeArticle

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