TY - GEN
T1 - Fault tolerant control for a hexarotor system using Incremental Backstepping
AU - Falconi, Guillermo P.
AU - Marvakov, Valentin A.
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/10
Y1 - 2016/10/10
N2 - In this paper, the design of an Incremental Backstepping controller for fault tolerant control of a hexacopter system is presented. The proposed controller compensates for the modeling mismatches including faults by relying on sensor measurements. Outdoor flight test results show the better performance of the Incremental Backstepping controller compared to the Backstepping controller. Furthermore, robustness against faults is demonstrated for the case of unknown control degradation within the propulsion system.
AB - In this paper, the design of an Incremental Backstepping controller for fault tolerant control of a hexacopter system is presented. The proposed controller compensates for the modeling mismatches including faults by relying on sensor measurements. Outdoor flight test results show the better performance of the Incremental Backstepping controller compared to the Backstepping controller. Furthermore, robustness against faults is demonstrated for the case of unknown control degradation within the propulsion system.
UR - http://www.scopus.com/inward/record.url?scp=84994240173&partnerID=8YFLogxK
U2 - 10.1109/CCA.2016.7587842
DO - 10.1109/CCA.2016.7587842
M3 - Conference contribution
AN - SCOPUS:84994240173
T3 - 2016 IEEE Conference on Control Applications, CCA 2016
SP - 237
EP - 242
BT - 2016 IEEE Conference on Control Applications, CCA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE Conference on Control Applications, CCA 2016
Y2 - 19 September 2016 through 22 September 2016
ER -