Fault tolerant control of a hexarotor using a command governor augmentation

Guillermo P. Falconi, Simon P. Schatz, Florian Holzapfel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

The application of Nonlinear Dynamic Inversion on agile multicopter systems is beneficial to cope with significant dynamical couplings of the axes. However, modeling errors impose drawbacks to the control concept as the inversion relies on an exact knowledge about the model for best performance. In order to improve the performance of the controller when subject to exogenous disturbances and modeling errors, a command governor augmentation is proposed in this paper. Basically, by utilizing an estimation of the time derivative of the control error, an additional command is applied to the reference model. The superior performance and robustness are demonstrated in flight experiments with a hexacopter, where controlled flight is accomplished even under severe actuator degradation.

Original languageEnglish
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages182-187
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - 5 Aug 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: 21 Jun 201624 Jun 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Conference

Conference24th Mediterranean Conference on Control and Automation, MED 2016
Country/TerritoryGreece
CityAthens
Period21/06/1624/06/16

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