Fault tolerant control of a hexarotor using a command governor augmentation

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

doi:10.1109/MED.2016.7535981

Fault tolerant control of a hexarotor using a command governor augmentation

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

Chair of Flight System Dynamics

Technical University of Munich

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

4 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 language	English
Title of host publication	24th Mediterranean Conference on Control and Automation, MED 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	182-187
Number of pages	6
ISBN (Electronic)	9781467383455
DOIs	https://doi.org/10.1109/MED.2016.7535981
State	Published - 5 Aug 2016
Event	24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece Duration: 21 Jun 2016 → 24 Jun 2016

Publication series

Name	24th Mediterranean Conference on Control and Automation, MED 2016

Conference

Conference	24th Mediterranean Conference on Control and Automation, MED 2016
Country/Territory	Greece
City	Athens
Period	21/06/16 → 24/06/16

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10.1109/MED.2016.7535981

Cite this

Falconi, G. P., Schatz, S. P., & Holzapfel, F. (2016). Fault tolerant control of a hexarotor using a command governor augmentation. In 24th Mediterranean Conference on Control and Automation, MED 2016 (pp. 182-187). Article 7535981 (24th Mediterranean Conference on Control and Automation, MED 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2016.7535981

@inproceedings{5fae2a4d51934f50967b0eb40cd34e2c,

title = "Fault tolerant control of a hexarotor using a command governor augmentation",

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.",

author = "Falconi, {Guillermo P.} and Schatz, {Simon P.} and Florian Holzapfel",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 24th Mediterranean Conference on Control and Automation, MED 2016 ; Conference date: 21-06-2016 Through 24-06-2016",

year = "2016",

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doi = "10.1109/MED.2016.7535981",

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Falconi, GP, Schatz, SP & Holzapfel, F 2016, Fault tolerant control of a hexarotor using a command governor augmentation. in 24th Mediterranean Conference on Control and Automation, MED 2016., 7535981, 24th Mediterranean Conference on Control and Automation, MED 2016, Institute of Electrical and Electronics Engineers Inc., pp. 182-187, 24th Mediterranean Conference on Control and Automation, MED 2016, Athens, Greece, 21/06/16. https://doi.org/10.1109/MED.2016.7535981

Fault tolerant control of a hexarotor using a command governor augmentation. / Falconi, Guillermo P.; Schatz, Simon P.; Holzapfel, Florian.
24th Mediterranean Conference on Control and Automation, MED 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 182-187 7535981 (24th Mediterranean Conference on Control and Automation, MED 2016).

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

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Y1 - 2016/8/5

N2 - 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.

AB - 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.

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BT - 24th Mediterranean Conference on Control and Automation, MED 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 24th Mediterranean Conference on Control and Automation, MED 2016

Y2 - 21 June 2016 through 24 June 2016

ER -

Fault tolerant control of a hexarotor using a command governor augmentation

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