Active Fault Diagnosis and Control of a Morphing Multirotor Subject to a Stuck Arm

In this paper, we propose a fault tolerant control law for morphing quadrotor, where the considered ability is that of extendable/telescopic arms. This quite recent class systems able to provide good trade-off between payload capabilities, maneuverability, and space occupancy. However, such degrees freedom require dedicated servomotors, which in turn implies more possible faults. Thus, problem diagnosis telescopic servo motors subject stuck considered. System symmetries are exploited used residual generator design, triggers an active isolation/identification phase. External disturbances also taken into account estimated through nonlinear disturbance observer. A classical double-loop controller closes loop, providing overall system structure follows observer-based paradigm. The scheme validated realistic numerical simulations, closed-loop performances analyzed.