Defective tolerance control design for four-blade system in order to tolerate operational defects

A fault tolerant control is designed for a four-legged bird. This control consists of two parts: status control and position control. Position control is performed by a fuzzy controller and position control is performed by a PD controller. In the next step, the parity space method is implemented in order to diagnose and estimate the defect. In addition to finding the analytical relationship of the defect, in this article, position control will also be performed. Operator saturation and its effects on system performance is another issue not seen in reviewed articles. In this paper, operator saturation is considered and consequently the maximum fault tolerable by the system will be estimated. Using fault signals, control redesign operations have been performed to tolerate faults and correct control inputs; So using the PID controller, the annoying outputs created by the fault are zeroed. The defect is assumed to be of the operative type and two scenarios have been assumed for its occurrence.