Fault - Tolerant Control of a Multirotor Unmanned Aerial Vehicle applying Particle Swarm Optimization

This paper proposes a fault tolerance control algorithm for multirotor Unmanned Aerial Vehicles UAVs based on a powerful swarm intelligence algorithm. A hexarotor UAV is utilized for examining the proposed strategy. Indeed, there is a nonlinear derivation for hexarotor motor control strategy. The proposed fault tolerance control algorithm presented here, is based on motors speed reconfiguration strategy by means of particle swarm optimization (PSO). Simulation is performed along with realistic outdoor experiments for validation. The results show a good time performance of the optimization algorithm and effectiveness of the applied recovery algorithm.