Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure
| Autor: | Guillermo P. Falconi, Florian Holzapfel, Jorg Angelov |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Adaptive control Computer science Applied Mathematics Subject (philosophy) fault recovery Fault tolerance QA75.5-76.95 02 engineering and technology adaptive control ddc mav flight dynamics and control 020901 industrial engineering & automation Control theory Electronic computers. Computer science QA1-939 0202 electrical engineering electronic engineering information engineering Computer Science (miscellaneous) 020201 artificial intelligence & image processing fault tolerant control Engineering (miscellaneous) Mathematics Position control |
| Zdroj: | International Journal of Applied Mathematics and Computer Science, Vol 28, Iss 2, Pp 309-321 (2018) |
| ISSN: | 2083-8492 |
| DOI: | 10.2478/amcs-2018-0022 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|