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Active Fault Tolerant Control of Octorotor UAV using Dynamic Control Allocation

Abdel Razzak Merheb, Hassan Noura, Francois Bateman


In this paper, an active fault tolerant control scheme based on Dynamic Control Allocation method for Octorotor UAVs is developed. A Sliding Mode Observer is used to detect online any fault or failure affecting the UAV during flight. Whenever a fault or a total failure of a rotor is detected, the gain vector of the dynamic control allocator is updated resulting in the redistribution of the control effort. The infected actuator has then the least effect on the overall control vector. The new method was able to compensate for the effect of multiple severe faults while taking into account actuator and time constraints.

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