Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller

Guillermo P. Falconi; Jorg Angelov; Florian Holzapfel

doi:10.1109/SYSTOL.2016.7739779

Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller

Guillermo P. Falconi, Jorg Angelov, Florian Holzapfel

Lehrstuhl für Flugsystemdynamik

Technische Universität München

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

18 Zitate (Scopus)

Abstract

This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation.

Originalsprache	Englisch
Titel	2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
Redakteure/-innen	Ramon Sarrate
Herausgeber (Verlag)	IEEE Computer Society
Seiten	373-380
Seitenumfang	8
ISBN (elektronisch)	9781509006588
DOIs	https://doi.org/10.1109/SYSTOL.2016.7739779
Publikationsstatus	Veröffentlicht - 8 Nov. 2016
Veranstaltung	3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Barcelona, Spanien Dauer: 7 Sept. 2016 → 9 Sept. 2016

Publikationsreihe

Name	Conference on Control and Fault-Tolerant Systems, SysTol
Band	2016-November
ISSN (Print)	2162-1195
ISSN (elektronisch)	2162-1209

Konferenz

Konferenz	3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016
Land/Gebiet	Spanien
Ort	Barcelona
Zeitraum	7/09/16 → 9/09/16

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10.1109/SYSTOL.2016.7739779

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Falconi, G. P., Angelov, J., & Holzapfel, F. (2016). Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. in R. Sarrate (Hrsg.), 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings (S. 373-380). Artikel 7739779 (Conference on Control and Fault-Tolerant Systems, SysTol; Band 2016-November). IEEE Computer Society. https://doi.org/10.1109/SYSTOL.2016.7739779

Falconi, Guillermo P. ; Angelov, Jorg ; Holzapfel, Florian. / Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. Hrsg. / Ramon Sarrate. IEEE Computer Society, 2016. S. 373-380 (Conference on Control and Fault-Tolerant Systems, SysTol).

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title = "Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller",

abstract = "This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation.",

author = "Falconi, {Guillermo P.} and Jorg Angelov and Florian Holzapfel",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 ; Conference date: 07-09-2016 Through 09-09-2016",

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Falconi, GP, Angelov, J & Holzapfel, F 2016, Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. in R Sarrate (Hrsg.), 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings., 7739779, Conference on Control and Fault-Tolerant Systems, SysTol, Bd. 2016-November, IEEE Computer Society, S. 373-380, 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016, Barcelona, Spanien, 7/09/16. https://doi.org/10.1109/SYSTOL.2016.7739779

Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. / Falconi, Guillermo P.; Angelov, Jorg; Holzapfel, Florian.
2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. Hrsg. / Ramon Sarrate. IEEE Computer Society, 2016. S. 373-380 7739779 (Conference on Control and Fault-Tolerant Systems, SysTol; Band 2016-November).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

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N2 - This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation.

AB - This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation.

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Falconi GP, Angelov J, Holzapfel F. Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. in Sarrate R, Hrsg., 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. IEEE Computer Society. 2016. S. 373-380. 7739779. (Conference on Control and Fault-Tolerant Systems, SysTol). doi: 10.1109/SYSTOL.2016.7739779

Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller

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