Quadrotor Fault-Tolerant Constrained Control Using Interval Contractor-Based Adaptive Reference Governor

This article proposes a solution to handle the propeller failure on a quadrotor subject to state and input constraints. A model reference adaptive control law compensates for the fault and the unmodeled quadrotor dynamics, while a robust reference governor (RG) enforces state and input constraints. Differently from existing works, the governor is built in accordance with the adaptive control law performance guarantees and adapts its propagation model online as soon as a contraction algorithm detects the fault. As shown in the numerical simulation, the solution allows both precise reference tracking and constraint enforcement at the price of reduced conservatism with respect to the usual robust RG scheme.