Adaptive Fault Tolerant Control of Quadcopter by Using Minimum Projection Method

To achieve stable flight of quadcopters in actual environment, considering actuator faults is an important issue. In this paper, we propose a globally asymptotically stabilizing adaptive controller for a quadcopter with actuator faults. To stabilize attitude and altitude of quadcopter globally, we first design the stabilizing state feedback controller by using the minimum projection method. Then, we extend the controller for an adaptive controller based on an actuator fault model, which contains unknown propeller's aerodynamic constants. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.