Motor Failure Tolerant Control System With Self Diagnostics for Unmanned Multirotors
| Autor: | Leszek Ambroziak, Mirosław Kondratiuk, Arkadiusz Bożko, Ülle Kotta, Ashutosh Simha, Ewa Pawluszewicz |
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| Rok vydání: | 2019 |
| Předmět: |
020301 aerospace & aeronautics
0209 industrial biotechnology Rotor (electric) Computer science Control reconfiguration Fault tolerance 02 engineering and technology Propulsion law.invention 020901 industrial engineering & automation 0203 mechanical engineering law Inertial measurement unit Control theory Control system Multirotor Control methods |
| Zdroj: | MMAR |
| Popis: | The paper presents a method for rotor failure detection and control system reconfiguration in case of unmanned multirotor propulsion system breakdown. The proposed algorithm uses onboard IMU measurements for failure detection and isolation. An adaptive fault tolerant control is designed for detecting and correcting partial or complete rotor failures. In case of a complete failure, the center of mass is reconfigured and control system is switched to a tri-rotor configuration. It has been demonstrated through simulations that the adaptive parameters converge to the true values of rotor efficiency. Further, in-flight experiments were conducted to demonstrate the failure detection and fault tolerant controller on a MAV quadrotor. Obtained results validate the effectiveness of the proposed motor failure tolerant control method to effectively compensate for complete loss of one rotor, leading to a resilient flight control mechanism. |
| Databáze: | OpenAIRE |
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