Reconfigurable Fault-Tolerant UAV Flight Control Against Actuator Faults

In this study, the parameter identification based fault tolerant control of an unmanned aerial vehicle (UAV) dynamics is presented. When faults occur in the actuator, then the elements of the control distribution matrix (control derivatives) change. The Kalman filter (KF) is used in order to identify the control distribution matrix elements; thus, the control reconfiguration is carried out using this identified control distribution matrix. An LQR controller is designed for the modeled UAV. The control derivatives are identified by the KF and LQR controller is reconfigured for the identified control distribution matrix. In simulations, the linearized model of longitudinal dynamics of ZAGI UAV is considered, and the performance of the proposed system identification and reconfigurable control techniques are examined for this model.