Adaptive fault tolerant control allocation for a hexacopter system

Guillermo P. Falconi; Florian Holzapfel

doi:10.1109/ACC.2016.7526736

Adaptive fault tolerant control allocation for a hexacopter system

Guillermo P. Falconi, Florian Holzapfel

Chair of Flight System Dynamics

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

44 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2016 American Control Conference, ACC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6760-6766
Number of pages	7
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7526736
State	Published - 28 Jul 2016
Event	2016 American Control Conference, ACC 2016 - Boston, United States Duration: 6 Jul 2016 → 8 Jul 2016

Publication series

Name	Proceedings of the American Control Conference
Volume	2016-July
ISSN (Print)	0743-1619

Conference

Conference	2016 American Control Conference, ACC 2016
Country/Territory	United States
City	Boston
Period	6/07/16 → 8/07/16

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10.1109/ACC.2016.7526736

Cite this

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title = "Adaptive fault tolerant control allocation for a hexacopter system",

abstract = "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.",

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Falconi, GP & Holzapfel, F 2016, Adaptive fault tolerant control allocation for a hexacopter system. in 2016 American Control Conference, ACC 2016., 7526736, Proceedings of the American Control Conference, vol. 2016-July, Institute of Electrical and Electronics Engineers Inc., pp. 6760-6766, 2016 American Control Conference, ACC 2016, Boston, United States, 6/07/16. https://doi.org/10.1109/ACC.2016.7526736

Adaptive fault tolerant control allocation for a hexacopter system. / Falconi, Guillermo P.; Holzapfel, Florian.
2016 American Control Conference, ACC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 6760-6766 7526736 (Proceedings of the American Control Conference; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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.

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Adaptive fault tolerant control allocation for a hexacopter system

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