Actuator fault diagnosis and control of a quadrotor

This paper addresses the problem of actuator fault diagnosis and control of a realistic nonlinear six degree-of-freedom quadrotor helicopter model, based on interacting multiple model (IMM) filter and a switching multi-model predictive controller (MMPC). The proposed methods were evaluated by numerical simulation, and the faults were modeled by increasing the friction and temperature of one rotor. The results were satisfactory in terms of fault detection and diagnosis while performing accurate reference tracking.