ICUAS'17 Paper Abstract


Paper ThA1.4

Pose, Claudio Daniel (Facultad de Ingenierķa - Universidad de Buenos Aires), Giribet, Juan Ignacio (University of Buenos Aires), Ghersin, Alejandro (ITBA)

Hexacopter Fault Tolerant Actuator Allocation Analysis for Optimal Thrust

Scheduled for presentation during the "Micro- and Mini- UAS - I" (ThA1), Thursday, June 15, 2017, 11:00−11:20, Salon E

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 12, 2021

Keywords Fail-Safe Systems, Micro- and Mini- UAS, Security


Recently, it was shown that an hexagon shaped hexa-rotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The proposed strategy is optimal in the sense that minimizes the maximum force exerted by the rotors.

A comparison with the commonly used strategy based upon the Moore-Penrose pseudoinverse is carried out. It is shown that, with the optimal strategy proposed here, maneuverability is improved, because the new method takes into account the actuators constraints. Although the optimal strategy is computationally more demanding than the classical method, the additional computational burden is not significant when both strategies are compared in a real application. To show this, both algorithms were programmed in an autopilot based on an ARM Cortex M3 microcontroller, and the experimental results are presented.



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