A Control Effectiveness Estimator with a Moving Horizon Robustness Modification for Fault-Tolerant Hexacopter Control

Philipp Niermeyer; Mikhail Pak; Boris Lohmann

doi:10.1016/j.ifacol.2017.08.045

A Control Effectiveness Estimator with a Moving Horizon Robustness Modification for Fault-Tolerant Hexacopter Control

Philipp Niermeyer, Mikhail Pak, Boris Lohmann

Chair of Automatic Control

Technical University of Munich

Research output: Contribution to journal › Article › peer-review

7 Scopus citations

Abstract

Online estimation of control effectiveness in combination with appropriate controller reconfiguration is a promising method for introducing a certain fault-tolerance into a control system. The contribution of this paper is twofold. First, it investigates the observability of the parameters to be determined for a hexacopter; second, a novel approach is introduced which combines moving horizon estimator (MHE) and Lyapunov-based methods. Conventional and proposed estimators are tuned and validated to assess their performance. Ease of implementation along with beneficial error characteristics are the main strength of the presented nonlinear MHE-augmented Lyapunov-based estimator.

Original language	English
Pages (from-to)	270-275
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.045
State	Published - Jul 2017

Keywords

Autonomous Mobile Robots
Diagnosis
Fault Detection
Health monitoring
Identification
Isolation
Tolerance for Autonomous Vehicles
diagnosis

Access to Document

10.1016/j.ifacol.2017.08.045

Cite this

@article{e381eb8f624346dba7f23aee11f862a0,

title = "A Control Effectiveness Estimator with a Moving Horizon Robustness Modification for Fault-Tolerant Hexacopter Control",

abstract = "Online estimation of control effectiveness in combination with appropriate controller reconfiguration is a promising method for introducing a certain fault-tolerance into a control system. The contribution of this paper is twofold. First, it investigates the observability of the parameters to be determined for a hexacopter; second, a novel approach is introduced which combines moving horizon estimator (MHE) and Lyapunov-based methods. Conventional and proposed estimators are tuned and validated to assess their performance. Ease of implementation along with beneficial error characteristics are the main strength of the presented nonlinear MHE-augmented Lyapunov-based estimator.",

keywords = "Autonomous Mobile Robots, Diagnosis, Fault Detection, Health monitoring, Identification, Isolation, Tolerance for Autonomous Vehicles, diagnosis",

author = "Philipp Niermeyer and Mikhail Pak and Boris Lohmann",

note = "Publisher Copyright: {\textcopyright} 2017",

year = "2017",

month = jul,

doi = "10.1016/j.ifacol.2017.08.045",

language = "English",

volume = "50",

pages = "270--275",

journal = "IFAC Proceedings Volumes (IFAC-PapersOnline)",

issn = "1474-6670",

number = "1",

}

TY - JOUR

T1 - A Control Effectiveness Estimator with a Moving Horizon Robustness Modification for Fault-Tolerant Hexacopter Control

AU - Niermeyer, Philipp

AU - Pak, Mikhail

AU - Lohmann, Boris

PY - 2017/7

Y1 - 2017/7

N2 - Online estimation of control effectiveness in combination with appropriate controller reconfiguration is a promising method for introducing a certain fault-tolerance into a control system. The contribution of this paper is twofold. First, it investigates the observability of the parameters to be determined for a hexacopter; second, a novel approach is introduced which combines moving horizon estimator (MHE) and Lyapunov-based methods. Conventional and proposed estimators are tuned and validated to assess their performance. Ease of implementation along with beneficial error characteristics are the main strength of the presented nonlinear MHE-augmented Lyapunov-based estimator.

AB - Online estimation of control effectiveness in combination with appropriate controller reconfiguration is a promising method for introducing a certain fault-tolerance into a control system. The contribution of this paper is twofold. First, it investigates the observability of the parameters to be determined for a hexacopter; second, a novel approach is introduced which combines moving horizon estimator (MHE) and Lyapunov-based methods. Conventional and proposed estimators are tuned and validated to assess their performance. Ease of implementation along with beneficial error characteristics are the main strength of the presented nonlinear MHE-augmented Lyapunov-based estimator.

KW - Autonomous Mobile Robots

KW - Diagnosis

KW - Fault Detection

KW - Health monitoring

KW - Identification

KW - Isolation

KW - Tolerance for Autonomous Vehicles

KW - diagnosis

UR - http://www.scopus.com/inward/record.url?scp=85031775409&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2017.08.045

DO - 10.1016/j.ifacol.2017.08.045

M3 - Article

AN - SCOPUS:85031775409

SN - 1474-6670

VL - 50

SP - 270

EP - 275

JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

IS - 1

ER -

A Control Effectiveness Estimator with a Moving Horizon Robustness Modification for Fault-Tolerant Hexacopter Control

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this