Zogopoulos Papaliakos, Georgios (National Technical University of Athens), Karras, George (University of Thessaly), Kyriakopoulos, Kostas J. (National Tech. Univ. of Athens)

A Fault-Tolerant Control Scheme for Fixed-Wing UAVs with Flight Envelope Integration

Scheduled for presentation during the Regular Session "Fail-Safe Systems" (ThC2), Thursday, September 3, 2020, 17:00−17:20, Kozani

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

Fault-tolerant control is currently the most important step towards increased autonomy for Unmanned Aerial Vehicles (UAVs). In this work, we consider actuator and airframe faults in fixed-wing UAVs and show that an online Flight Envelope (FE) calculation can interpret their effect on the achievable trim trajectories. Subsequently, we design a fully integrated control scheme with a RRT-based planner and 3 Nonlinear Model Predictive Control (MPC) layers. The FE is provided at each control layer with the beneficial result that non-trimmable, unstable trajectories are avoided. Results from high-fidelity simulations are provided.