Quaternion-based robust fault-tolerant control of a quadrotor UAV
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper deals with the active fault-tolerant control (FTC) of a quadrotor in the presence of actuator faults. Generally, it is assumed that the fault has been detected, isolated or identified, and then, one proceeds with a reconfigurable controller. This paper presents a complete active fault-tolerant control system with both fault detection and diagnosis (FDD), and FTC. The proposed FTC design is based on gain-scheduling control in the framework of structured H∞ synthesis. The scheduled gains are parameterized as polynomial functions of the loss of control effectiveness of the quadrotor actuators, estimated by a two-stage Kalman filter. Then, the MATLAB-based function systune tunes the polynomial coefficients to meet the robustness and performance requirement. In comparison with other FTC systems that use switching mechanisms, this smooth self-scheduled controller allows one to avoid undesirable transient phenomena during the controller reconfiguration process. Numerical simulations performed on an underactuated six degrees of freedom quadrotor nonlinear model show the effectiveness of the proposed FTC in accommodating different levels of actuator faults. To avoid singularities associated with Euler angles, unit quaternion representations are used to describe the rotational motion of the quadrotor.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it