Controle de drones multirrotores por meio de técnicas de controle tolerante a falhas

Abstract

The use of PID controllers in quadrotors has gained popularity and are the preferred choice for regulating and stabilizing these inherently unstable systems thanks to its simplicity and effectiveness. On the other hand, nonlinear controllers still represent a challenge for practical implementation, mainly due to their complexity of programming, reliability and certification. This paper presents a robust nonlinear controller for quadrotor control, based on Sliding Mode Control and with a simple structure and easy to implement in order to encourage its future use in commercial controller boards. The proposed controller, called Universal Integral Regulator, also has properties that make it an excellent choice in passive fault-tolerant control schemes such as: (i) disturbance and model uncertainties rejection capabilities, (ii) guaranteed steady state zero tracking error added with an anti wind-up capability, (iii) reduced chattering and especially, (iv) it does not require previous and detailed knowledge of the plant model which facilitates its experimental implementation. The proposed controller’s performance is examined and compared to classical PID through numerical simulations and real world experiments on a 3 Degrees of Freedom quadrotor platform in the presence of several actuator faults (Locked-in-Place and Loss of Effectiveness). The results demonstrated the enhanced tracking performance and overall superiority of the proposed Universal Integrative Regulator control law compared to the conventional PID controller. This was evidenced through both qualitative and quantitative comparisons of performance indices. Specifically, the Universal Integrative Regulator achieved at least a 50% reduction in tracking error relative to the PID controller, highlighting its effectiveness in improving control accuracy.