Gain Scheduling Based PID Controller for Fault Tolerant Control of Quad-Rotor UAV

Abstract

In this paper, in view of the advantages of widely used Proportional-Integral-Derivative (PID) controller and gain scheduling control strategy in aerospace and industrial applications, a control strategy by using gain scheduling based PID controller is proposed for fault tolerant control (FTC) of a quad-rotor Unmanned Aerial Vehicle (UAV). The nonlinear dynamic equations of motion of the quad-rotor UAV are firstly derived based on the Newton's second law. PID controllers under fault-free and several different fault situations are then designed and tuned to control the quad-rotor UAV model under normal and different faults flight conditions. Each PID controller uses the speed and the orientation of each propeller for stabilizing and hovering motion of the quad-rotor UAV. Based on a decision variable (used as scheduling variable in this case) associated with a fault detection and isolation module, switching of each pre-tuned PID controller can be made in real-time and on-line. Simulation results under different fault scenarios have shown the effectiveness of the proposed approach for a six-degree-of-freedom nonlinear quad-rotor UAV model. Nomenclature M = mass of the vehicle x, y, z = x, y, and z position of the vehicle, respectively φ ,θ , ψ = roll, pitch, and yaw angle of the vehicle, respectively 1

Comparison of gradient methods for gain tuning of a PD controller applied on a quadrotor system

“…The PID method has the following design procedure which involves gain scheduling. A number of papers found in the literature deal have considered this topic [14] and [15]. In [14], PID gain scheduling is developed using fuzzy logic.…”

“…This fuzzy gain scheduling scheme is demonstrated with the physical model for control of temperature process. In [15], PID controller and gain scheduling control strategy are used for fault tolerant control. This strategy is generally applied in the aerospace and industrial field.…”

Fault Tolerant Flight Control Techniques with Application to a Quadrotor UAV Testbed

“…In (Johnson et al, 2010), the authors investigate this technique for a Georgia Tech Twinstar fixed-wing research vehicle in the presence of partial damage of the wing. As continuation of the work presented in (Bani Milhim et al, 2010b), GS-PID has been considered for further investigation and most importantly for experimental implementation and application to the Qball-X4 UAV testbed for fault-tolerant trajectory tracking control (Sadeghzadeh et al, 2011). The GS-PID has been implemented for different sections of the entire flight envelope by properly tuning the PID controller gains for both normal and fault conditions.…”

“…Some research works consider this problem: a GS-PID control strategy is proposed in (Bani Milhim, 2010a) and (Bani Milhim et al, 2010b) in simulation framework to achieve fault-tolerant control for the quadrotor helicopter UAV in the presence of actuator faults. In (Johnson et al, 2010), the authors investigate this technique for a Georgia Tech Twinstar fixed-wing research vehicle in the presence of partial damage of the wing.…”

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