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Fault-Tolerant Lyapunov-Gain-Scheduled PID Control of a Quadrotor UAV
Authors: Abderrahmen Bouguerra, Djamel Saigaa, Kamel Kara, Samir Zeghlache
Number of views: 552
The work has done in this paper concern the passive fault tolerant control. Based on Gain-Adaptive
Proportional-Integral-Derivative (PID) using the approach from the theory of Lyapunov and their application to the
model vertical flying drone Quadrotor type, the PID controller with fixed parameters may fail to provide acceptable
control performance. To improve the PID control effect, new designs of the Lyapunov gain Scheduled PID controller
(LGSPID) were presented in this paper. The proposed techniques were applied to the Quadrotor, where adaptive PID
controllers were proposed for fault-tolerant control system in the presence of actuator faults. The parameters of PID
controller were adjusted by an adaptation algorithm gradient type, used to tune in real-time the controller gain, the
proposed adaptive PID controller was compared with the conventional PID. The obtained results confirm the
effectiveness of the proposed method.