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In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error...
This paper presents an active fault-tolerant control scheme for a quadrotor unmanned helicopter with velocity sensor faults. A two-level control scheme is designed to guarantee the trajectory following of the quadrotor when there are no faults. The control scheme consists of an external-loop Proportion Differentiation (PD) control law and an internal-loop Proportion Integration Differentiation (PID)...
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