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Active Fault Tolerant Control using MPC with Terminal Constraints

Youmin Zhang


This paper is to solve the practical problem of loss of control effectiveness of actuators in a quadrotor (known as Qball-X4). Model predictive controller (MPC) is adopted for designing fault tolerant controller to accommodate the actuator fault. Both MPC without terminal constraints and MPC with terminal constraints are discussed and designed for illustrating the performance influence by the terminal constraints. An active fault tolerant controller based on MPC with terminal constraints is designed to compensate the actuator faults. The scheme of active fault tolerant control(AFTC) is to update the internal model based on the fault information to adapt the fault situation. The simulation results are given showing the success of the designed active fault tolerant controller based on MPC with terminal constraints.

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