A real-time assessment approach to quadrotor flight control capability

To solve the problem for the online assessment of the quadrotor flight control capability, this paper proposes a novel definition of control capability, and an approach to assess the control capability online. A quadrotor fault model is presented firstly, and the real-time fault detection is implemented using an Extended Kalman filter. Then, the function fitting method is used to achieve real-time controlability calculation by obtaining the relation between the controllability and the estimated fault vector. Finally, the online assessment of control capability is achieved by the integration of the controllability and the performance factor of the control law. A simulation based on a quadrotor shows that the proposed approach can achieve an accurate online assessment of quadrotor flight control capability.