Creator:

Falconí, Guillermo P. ; Angelov, Jorg ; Holzapfel, Florian

Contributor:

Puig, Vicenç - ed. ; Sauter, Dominique - ed. ; Aubrun, Christophe - ed. ; Schulte, Horst - ed.

Title:

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

Subtitle:

.

Group publication title:

AMCS, volume 28 (2018)

Subject and Keywords:

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

Abstract:

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2018

Resource Type:

artykuł

DOI:

10.2478/amcs-2018-0022

Pages:

309-321

Source:

AMCS, volume 28, number 2 (2018) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego