This paper presents fault tolerance control (FTC) of a quadrotor under actuator faults. A complete FTC design approach with fault detection and diagnosis (FDD) is addressed. The proposed FTC is based on the model predictive control, which can be applied to nonlinear systems using the so-called successive convexification algorithm, which converts a nonconvex function to a convex function in a successive manner through linearization. The faults are parameterized in the form of loss of effectiveness (LOE) of a quadrotor actuator and estimated using a two-stage Kalman filter. Compared with other FTC, the proposed FTC is capable of controlling not only partial loss of actuator effectiveness defined as a fault but also a complete loss of actuator effectiveness defined as failure. Controller switching is not required, while an actuator saturation limit is also considered. The proposed FTC approach has been validated under various actuator fault conditions through nonlinear simulation studies.

本文提出了在执行器故障下的四旋翼机的容错控制（FTC）。解决了具有故障检测和诊断（FDD）的完整FTC设计方法。提出的FTC基于模型预测控制，可以使用所谓的连续凸化算法将其应用于非线性系统，该算法通过线性化将非凸函数转换为凸函数。故障以四旋翼执行器的效率损失（LOE）形式进行参数化，并使用两级卡尔曼滤波器进行估计。与其他FTC相比，拟议的FTC不仅可以控制被定义为故障的致动器有效性的部分损失，而且还可以控制被定义为故障的致动器有效性的完全损失。不需要控制器切换 同时还考虑了执行器饱和极限。通过非线性仿真研究，所提出的FTC方法已在各种执行器故障条件下得到了验证。