Fault-Tolerant Fuzzy Gain-Scheduled PID for a Quadrotor Helicopter Testbed in the Presence of Actuator Faults

In the current study, an adaptive PID controller is proposed for fault-tolerant control of a quadrotor helicopter system in the presence of actuator faults. A fuzzy inference scheme is used to tune in real-time the controller gains. Tracking errors and change in tracking errors are used in this fuzzy scheduler to make the system act faster and more effectively in the event of fault occurrence. Two fault scenarios are investigated: the loss of control effectiveness in all actuators and the loss of control effectiveness in one single actuator. The proposed adaptive PID controller is compared with the conventional one through an experimental application to a quadrotor helicopter testbed at the Department of Mechanical and Industrial Engineering of Concordia University. The obtained results show the effectiveness of the proposed method.