Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller
| Autor: | Jorg Angelov, Guillermo P. Falconi, Florian Holzapfel |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Adaptive control business.industry Control (management) Propeller Control reconfiguration Control engineering 02 engineering and technology Propulsion Flight test 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing business Actuator |
| Zdroj: | 2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol). |
| DOI: | 10.1109/systol.2016.7739779 |
| Popis: | This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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