ICUAS 2021 Paper Abstract

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Paper WeA1.3

Baldini, Alessandro (Università Politecnica delle Marche), Felicetti, Riccardo (Università Politecnica delle Marche), Freddi, Alessandro (Università Politecnica delle Marche), Longhi, Sauro (Università Politecnica delle Marche), Monteriù, Andrea (Università Politecnica delle Marche)

Disturbance Observer Based Fault Tolerant Control for Tilted Hexarotors

Scheduled for presentation during the Regular Session "Fault-Tolerant Control" (WeA1), Wednesday, June 16, 2021, 11:10−11:30, Macedonia Hall

2021 International Conference on Unmanned Aircraft Systems (ICUAS), June 15-18, 2021, Athens, Greece

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Control Architectures, Reliability of UAS, Fail-Safe Systems

Abstract

Tilted multirotors have superior redundancy and tracking capabilities over conventional multirotors with coplanar and collinear rotors. As such, they can potentially cope with actuator faults while still achieving tracking in both position and attitude. In this paper, the tracking fault tolerant control problem for a tilted hexarotor is addressed. Actuator partial loss of effectiveness is treated as a multiplicative fault, and the design approach is that of the disturbance observer based control. A feedback linearization based composite controller is then proposed for the faults accommodation. Simulation results show that the proposed active fault tolerant control scheme is able to cope with actuator faults.

 

 

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