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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| Published in | International journal of applied mathematics and computer science Vol. 28; no. 2; pp. 309 - 321 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Zielona Góra
Sciendo
01.06.2018
De Gruyter Brill Sp. z o.o., Paradigm Publishing Services |
| Subjects | |
| Online Access | Get full text |
| ISSN | 2083-8492 1641-876X 2083-8492 |
| DOI | 10.2478/amcs-2018-0022 |
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| 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. |
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| AbstractList | 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. |
| Author | Falconì, Guillermo P. Angelov, Jorg Holzapfel, Florian |
| Author_xml | – sequence: 1 givenname: Guillermo P. surname: Falconì fullname: Falconì, Guillermo P. email: guillermo.falconi@tum.de organization: Institute of Flight System Dynamics (FSD) Technical University of Munich (TUM), Boltzmannstrasse 15, 85748Garching, Germany – sequence: 2 givenname: Jorg surname: Angelov fullname: Angelov, Jorg email: jorg.angelov@tum.de organization: Institute of Flight System Dynamics (FSD) Technical University of Munich (TUM), Boltzmannstrasse 15, 85748Garching, Germany – sequence: 3 givenname: Florian surname: Holzapfel fullname: Holzapfel, Florian email: florin.holzapfel@tum.de organization: Institute of Flight System Dynamics (FSD) Technical University of Munich (TUM), Boltzmannstrasse 15, 85748Garching, Germany |
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| Snippet | This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a... |
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| SubjectTerms | 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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| Title | Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure |
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