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Title: Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
Authors: Mehndiratta, Mohit
Singh, Karanjot
Kayacan, Erdal
Feroskhan, Mir
Keywords: Engineering::Aeronautical engineering
Engineering::Mechanical engineering
Issue Date: 2021
Source: Mehndiratta, M., Singh, K., Kayacan, E. & Feroskhan, M. (2021). Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 853-859.
Project: RG69/20 
metadata.dc.contributor.conference: 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE)
Abstract: Highly maneuverable, over-actuated aerial robots have gained increasing interest in various inspection applications. However, since these systems carry expensive equipment and must operate in the vicinity of humans, their fail-safe operation is paramount. In this study, we propose a centralized nonlinear model predictive control (NMPC) method to facilitate fault-tolerant control (FTC) of an over-actuated quadrotor against a propeller failure. Thanks to the novel mechanical design, the hyperdynamic quadrotor can independently command and control all 6-degrees-of-freedom (DoFs). Additionally, the underlying reconfigurability feature of the designed NMPC makes it appropriate for normal as well as faulty operations. Moreover, the centralized nature of the control framework fully exploits the actuator redundancy, thereby ensuring complete system control without losing any DoF. The efficacy of the proposed FTC framework is elaborated throughout intensive simulations utilizing a high-fidelity model over two different trajectories. From the sequential failure cases, it is shown that – even with fault detection delay up to 1s – the aerial robot satisfactorily tracks the reference trajectory.
ISSN: 2161-8089
DOI: 10.1109/CASE49439.2021.9551527
Schools: School of Mechanical and Aerospace Engineering 
Rights: © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
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