Fault tolerant control of a rotary wing type unmanned aerial vehicle

In this study, a fault tolerant control design is made for a rotary wing type unmanned aerial vehicle. A realistic simulation environment is created for the quadcopter, and its equations of motion are derived by including the motor dynamics. In this simulation environment, faulty and unfaulty condition simulations of four different type of controllers, namely proportional controller, LQR controller, sliding mode controller and backstepping controller, are conducted. In addition to prementioned controllers, a modified adaptive sliding mode controller for faulty condition is also designed. Finally, the outputs of various simulations for different motor fault conditions are presented for each controller type.