Adaptive fault tolerant control allocation for a hexacopter system

Falconí, Guillermo P.; Holzapfel, Florian

doi:10.1109/acc.2016.7526736

Cited by 34 publications

(20 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It is a control logic that receives information from all subsystems to decide the best flight maneuver from a global perspective, and send flight instructions to low-level subsystems [21]. However, current academic literature covering failure-related topics of multicopters mainly focuses on fault detection techniques [22]- [26] and fault-tolerant control algorithms [27]- [32], which belong to a study of low-level subsystems. For the study of the high-level decision-making module, most research focuses on path planning [33]- [35] and obstacle avoidance [36], [37] of an individual multicopter, or PHM-based mission allocation of a multicopter team [6], [38], [39].…”

Section: Plant Sensing Apparatusmentioning

confidence: 99%

Failsafe mechanism design of multicopters based on supervisory control theory

Quan

Zhao

Lin

et al. 2020

IET cyber-systems robotics

View full text Add to dashboard Cite

In order to handle undesirable failures of a multicopter which occur in either the pre-flight process or the in-flight process, a failsafe mechanism design method based on supervisory control theory is proposed for the semi-autonomous control mode 1 . Failsafe mechanism is a control logic that guides what subsequent actions the multicopter should take, by taking account of real-time information from guidance, attitude control, diagnosis, and other low-level subsystems. In order to design a failsafe mechanism for multicopters, safety issues of multicopters are introduced.Then, user requirements including functional requirements and safety requirements are textually described, where function requirements determine a general multicopter plant, and safety requirements cover the failsafe measures dealing with the presented safety issues. In order to model the user requirements by discrete-event systems, several multicopter modes and events are defined.On this basis, the multicopter plant and control specifications are modeled by automata. Then, a supervisor is synthesized by monolithic supervisory control theory. In addition, we present three examples to demonstrate the potential blocking phenomenon due to inappropriate design of control specifications. Also, we discuss the meaning of correctness and the properties of the obtained supervisor. This makes the failsafe mechanism convincingly correct and effective. Finally, based on

show abstract

Section: Plant Sensing Apparatusmentioning

confidence: 99%

Failsafe mechanism design of multicopters based on supervisory control theory

Quan

Zhao

Lin

et al. 2020

IET cyber-systems robotics

View full text Add to dashboard Cite

show abstract

“…A survey on fault-tolerant techniques for multi-rotor aircraft can be found in [9]. One way of handling the failure is to develop separate controllers to be used when rotors fail [10,11]. With this approach, control authority in certain axis is often sacrificed in order to retain control in the rest.…”

Section: A Related Workmentioning

confidence: 99%

“…In the literature, hexacopters have been a popular platform to study controllability because they seem to be robust to the failure of up to two rotors and be able to fly like quadrotors. Interestingly, however, researchers have shown that symmetric and collinear hexacopters subject to a single rotor failure are not fully controllable [14], and controllers with limited attitude controllability have been developed [11,15]. As such, carefully designed control laws can handle certain rotor failure cases that they are intended for, but it is difficult to come up with a set of control laws that can cope with all possible cases of rotor failures.…”

Section: A Related Workmentioning

confidence: 99%

Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure

Kim

Rahili

Shi

et al. 2019

AIAA Scitech 2019 Forum

View full text Add to dashboard Cite

A new design method for multi-rotor aircraft with distributed electric propulsion is presented to ensure a property of robustness against rotor failure from the control perspective. Based on the concept of null controllability, a quality measure is derived to evaluate and quantify the performance of a given design with the consideration of rotor failure. An optimization problem whose cost function is based on the quality measure is formulated and its optimal solution identifies a set of optimal design parameters that maximizes an aircraft's ability to control its attitude and hence its position. The effectiveness of the proposed design procedure is validated through the results of experimentation with the Autonomous Flying Ambulance model being developed at Caltech's Center for Autonomous Systems and Technologies.

show abstract

“…An adaptive fault-tolerant control allocator was also proposed for a hexarotor UAV. (11) It is done using adaptive control techniques and by reformulating the problem of the control allocation with unknown control effectiveness.…”

Section: Introductionmentioning

confidence: 99%

BFA fuzzy logic based control allocation for fault-tolerant control of multirotor UAVs

et al. 2019

View full text Add to dashboard Cite

This paper deals with the problem of fault-tolerant control (FTC) for redundant multirotor unmanned aerial vehicles (UAVs) subject to actuators failures. A fuzzy logic approach is used to solve the constrained control allocation problem by adjusting the components of the multiplexing vector once a motor failure is detected. This fuzzy logic allocation problem is tuned using the Bacterial Foraging Algorithm (BFA), a powerful bio-inspired optimisation technique. The effectiveness of this approach is illustrated through real experimental application to a hexarotor UAV, where up to two motors failures are considered.

show abstract

Adaptive fault tolerant control allocation for a hexacopter system

Cited by 34 publications

References 20 publications

Failsafe mechanism design of multicopters based on supervisory control theory

Failsafe mechanism design of multicopters based on supervisory control theory

Controllability and Design of Unmanned Multirotor Aircraft Robust to Rotor Failure

BFA fuzzy logic based control allocation for fault-tolerant control of multirotor UAVs

Contact Info

Product

Resources

About