ericktornero / indi_quadrotor_ftc

This is a minimal repository containing the Matlab / Simulink to test a quadrotor subjected to single / double rotor failures, the incremental-nonlinear-dynamic-inversion controller.

Requirements

Matlab / Simulink 2020a

Toolbox

Communication Toolbox

DSP System Toolbox

Robotics Toolbox

INDI_Quadrotor_FTC

This is a minimal repository containing the Matlab / Simulink file, to simulate a quadrotor subjected to single / double rotor failures, using the incremental-nonlinear-dynamic-inversion controller proposed in

S. Sun, X. Wang, Q. Chu and C. d. Visser, "Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors," in IEEE Transactions on Robotics, doi: 10.1109/TRO.2020.3010626.

If you use this code in an academic context, please cite

@article{sun2020incremental,
  title={Incremental nonlinear fault-tolerant control of a quadrotor with complete loss of two opposing rotors},
  author={Sun, Sihao and Wang, Xuerui and Chu, Qiping and de Visser, Coen},
  journal={IEEE Transactions on Robotics},
  volume={37},
  number={1},
  pages={116--130},
  year={2020},
  publisher={IEEE}
}

File structure

run.m is the main script to run the simulation, after loading necessary simulation and control parameters defined in simParams.m & controlParams.m respectively. The high-level simulation archetecture is given in frame.slx file, where one can design the position + yaw command. The flight controller is given in controls.slx, and the 6Dof simulator is given in droneSim.slx file. visualize.slx contains the visualization block.

How to test and compare with the INDI approach?

The innovation of this research, is to solve quadrotor fault-tolerant control problem using the Incremental-Nonlinear-Dynamic-Inversion (INDI) method. One can simply test it by directly running the simulation (run run.m file).

Change failuire type

In controlParams.m file, one can select swtching off which one or two propellers by changing par.fail_id. If par.DRF_enable is set as 1, then both the rotor of the given index and the rotor on its opposite side are switched off.

Change initial condition

Initial condition can be changed in the simParams.m file.

Change input command

Input command can be designed in the frame.slx file.

Test your own controller

To test your own controller with the given simulation, simply replace the content in controls.slx.