Hardware-in-the-Loop Experimental Validation of a Fault-Tolerant Control System for Quadcopter UAV Motor Faults

Abstract

In this paper, a hybrid fault-tolerant control (FTC) system for quadcopter unmanned aerial vehicles (UAVs) is proposed to counteract the deterioration of the performance of the quadcopter due to motor faults. A robust and adaptive approach to controlling fault conditions is simulated by combining an integral back-stepping controller for translational motion and a nonlinear observer-based sliding-mode controller for rotational motion, and then implemented on an FPGA. Finally, motor faults are treated as disturbances and are successfully compensated by the controller to ensure safe and high-performance flight. Simulations were taken at 0%, 10%, 30%, and 50% motor faults to test how effective the proposed FTC system is. After simulations, the controller’s real-time performance and reliability were validated through hardware-in-the-loop (HIL) experiments. The results validated that the proposed hybrid controller can guarantee stable flight and precision tracking of the desired trajectory when any single motor fails up to the order of 50%. It shows that the controller is of high fault tolerance and robustness, which will be a potential solution for improving the reliability of UAVs in fault-prone conditions.