TY - GEN
T1 - Adaptive fault tolerant control allocation for a hexacopter system
AU - Falconi, Guillermo P.
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - In this paper an adaptive fault tolerant control allocation for a linear static actuator model is presented. The method proposed here has the advantage of not relying on the exact knowledge of the fault and of avoiding the use of online optimization routines. This is done using adaptive control techniques and by reformulating the problem of the control allocation with unknown control effectiveness. Furthermore, the usual assumption of positive definiteness of the control effectiveness matrix is relaxed. The approach is applied to the position tracking problem of a hexacopter system. The control law is composed of a backstepping baseline controller and an adaptive augmentation. The goal of this extension is improving the robustness against degradation and failures of the propulsion system. Simulation results show the efficiency of the approach.
AB - In this paper an adaptive fault tolerant control allocation for a linear static actuator model is presented. The method proposed here has the advantage of not relying on the exact knowledge of the fault and of avoiding the use of online optimization routines. This is done using adaptive control techniques and by reformulating the problem of the control allocation with unknown control effectiveness. Furthermore, the usual assumption of positive definiteness of the control effectiveness matrix is relaxed. The approach is applied to the position tracking problem of a hexacopter system. The control law is composed of a backstepping baseline controller and an adaptive augmentation. The goal of this extension is improving the robustness against degradation and failures of the propulsion system. Simulation results show the efficiency of the approach.
UR - http://www.scopus.com/inward/record.url?scp=84992109321&partnerID=8YFLogxK
U2 - 10.1109/ACC.2016.7526736
DO - 10.1109/ACC.2016.7526736
M3 - Conference contribution
AN - SCOPUS:84992109321
T3 - Proceedings of the American Control Conference
SP - 6760
EP - 6766
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -