Effect of loss of control effectiveness on an inverted pendulum balanced on a moving quadrotor

Jackson Oloo

doi:10.1016/j.heliyon.2023.e14494

Effect of loss of control effectiveness on an inverted pendulum balanced on a moving quadrotor

Heliyon. 2023 Mar 15;9(3):e14494. doi: 10.1016/j.heliyon.2023.e14494. eCollection 2023 Mar.

Author

Jackson Oloo¹

Affiliation

¹ Department of Electrical and Electronic Engineering, Jomo Kenyatta University of Agriculture and Technology, P.O Box 62000-00200, Nairobi Kenya.

Abstract

This paper investigates the effect of loss of rotor effectiveness on the states of an inverted pendulum mounted at the center of mass of a moving quadrotor. An adaptive Model Predictive Controller is utilized to develop a controller that enables the quadrotor to track a circular trajectory while experiencing varied degrees of loss of actuator effectiveness. Nominal states of the quad-pendulum system on a circular trajectory are determined from the investigated dynamic equilibria. The performance of the developed fault tolerant controller against the pendulum states is compared with LQR performance in numerical simulations. Recommendations to improve performance against the observed errors are highlighted.

Keywords: Adaptive MPC; LQR controller; Loss of effectiveness; Rotor failure; Weighting matrices.