Additive-state-decomposition-based dynamic inversion stabilized control of a hexacopter subject to unknown propeller damages

Abstract

In this paper, we study the control problem of a hexacopter subject to unknown propeller damages, namely without fault detection. This problem is first formulated to be a time-varying disturbance rejection problem. Then, a novel control, namely additive-state-decomposition-based dynamic inversion stabilized control, is applied to stabilize the considered system subject to an unknown time-varying disturbance. Neither fault detection and isolation module nor control re-allocation for a hexacopter is required under this framework. Moreover, it can achieve a good rejection performance when damages happen. Finally, a simulation example shows its effectiveness.