Adaptive fault-tolerant position control of a hexacopter subject to an unknown motor failure

• Autorzy: Falconí G. P. , Angelov J. , Holzapfel F.

Identyfikatory

DOI

10.2478/amcs-2018-0022

• Języki publikacji: EN

Abstrakty

EN

This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.

Słowa kluczowe

EN

adaptive control; fault tolerant control; fault recovery; MAV flight dynamics; MAV flight control

PL

sterowanie adaptacyjne; sterowanie tolerujące uszkodzenia; usuwanie błędu

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2018
• Tom: Vol. 28, no. 2
• Strony: 309--321
• Opis fizyczny: Bibliogr. 28 poz., rys., tab., wykr.

Twórcy

autor

Falconí G. P.

• Institute of Flight System Dynamics (FSD), Technical University of Munich (TUM), Boltzmannstrasse 15, 85748 Garching, Germany

autor

Angelov J.

• Institute of Flight System Dynamics (FSD), Technical University of Munich (TUM), Boltzmannstrasse 15, 85748 Garching, Germany

autor

Holzapfel F.

• Institute of Flight System Dynamics (FSD), Technical University of Munich (TUM), Boltzmannstrasse 15, 85748 Garching, Germany

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).