Prochazka, Karl Frederik (TU Darmstadt), Ritz, Tobias (Robert Bosch GmbH), Eduardo, Hugo (TU Darmstadt)

Over-Actuation Analysis and Fault-Tolerant Control of a Hybrid Unmanned Aerial Vehicle

Scheduled for presentation during the Regular Session "Aircraft flight control analysis and design 3" (FrM21), Friday, April 5, 2019, 11:30−12:00, Carassa-Dadda

5th CEAS Conference on Guidance, Navigation and Control, April 3-5, 2019, Milano, Italy

This information is tentative and subject to change. Compiled on April 24, 2024

Abstract

Several reports like e.g. the textit{European Drones Outlook Study} predict that the number of unmanned aerial systems for commercial use will grow significantly within the next years. By further advancing in the direction of autonomous drone operation, it is most important to guarantee operational safety. Therefore, sophisticated methods of fault-tolerant control (FTC) have to be developed and tested. This paper presents a novel concept for determining the degree of a system’s inherent over-actuation and how this information can be utilized for optimization-based control allocation in different modes of operation to achieve fault-tolerance. The paper describes the modeling and FTC of a dual system hybrid UAV, which is inherently over-acutated when in addition to the aerodynamic surfaces four lift rotors are used to control the aircraft during long range fixed-wing flight mode.