Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

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 failu...

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Bibliographic Details
Published inInternational journal of applied mathematics and computer science Vol. 28; no. 2; pp. 309 - 321
Main Authors Falconì, Guillermo P., Angelov, Jorg, Holzapfel, Florian
Format Journal Article
LanguageEnglish
Published Zielona Góra Sciendo 01.06.2018
De Gruyter Brill Sp. z o.o., Paradigm Publishing Services
Subjects
Adaptive control
Attitude control
Degradation
fault recovery
Fault tolerance
fault tolerant control
Flight tests
MAV flight dynamics and control
Propulsion systems
Reconfiguration
Stability
Tracking control
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ISSN2083-8492
1641-876X
2083-8492
DOI10.2478/amcs-2018-0022

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Summary: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.
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ISSN:2083-8492
1641-876X
2083-8492
DOI:10.2478/amcs-2018-0022