Quadrotor Flight Control System Tolerant to Sensor Failures

The fault-tolerant quadrotor flight control systems operating without reconfiguration in a case of the sensor failure is the powerful mean for increasing the quadrotor flight safety. In this paper, the procedure for design of such system is proposed. It is based on the application of the extended observer synthesis based on the matrix Sylvester equation along with standard LQR method augmented with special optimization procedure for increasing the stability margin of systems with and without reconfiguration. It was performed the simulation of the fault-tolerant flight control system with the mathematical model of the certain real quadrotor, which was developed and manufactured at the National Aviation University. A result of this simulation demonstrates the efficiency of the proposed design method and appropriate system dynamics in a case of the sensor failure.