Matlab / Simulink 2020a
Communication Toolbox
DSP System Toolbox
Robotics Toolbox
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}
}
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.
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).
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.
Initial condition can be changed in the simParams.m file.
Input command can be designed in the frame.slx file.
To test your own controller with the given simulation, simply replace the content in controls.slx.