Fault tolerant control of a quadrotor UAV

This thesis addresses the problem of sensor and actuator fault detection and diagnosis (FDD) and as a result fault tolerant control (FTC) of an unmanned quadrotor helicopter in the presence of the observation and process noises. To this end a Two-Stage Kalman Filter (TSKF) to detect, isolate and identify faults is used. Sensor faults are assumed to be bias faults and actuator faults are modeled as a loss of effectiveness in the propellers. Also a reference follower controller using Linear Quadratic Regulator (LQR) technique is designed and used to make the system response to follow a desired trajectory.