Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller

Guillermo P. Falconi; Jorg Angelov; Florian Holzapfel

doi:10.1109/SYSTOL.2016.7739779

Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller

Guillermo P. Falconi, Jorg Angelov, Florian Holzapfel

Chair of Flight System Dynamics

Technical University of Munich

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

18 Scopus citations

Abstract

This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation.

Original language	English
Title of host publication	2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
Editors	Ramon Sarrate
Publisher	IEEE Computer Society
Pages	373-380
Number of pages	8
ISBN (Electronic)	9781509006588
DOIs	https://doi.org/10.1109/SYSTOL.2016.7739779
State	Published - 8 Nov 2016
Event	3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Barcelona, Spain Duration: 7 Sep 2016 → 9 Sep 2016

Publication series

Name	Conference on Control and Fault-Tolerant Systems, SysTol
Volume	2016-November
ISSN (Print)	2162-1195
ISSN (Electronic)	2162-1209

Conference

Conference	3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016
Country/Territory	Spain
City	Barcelona
Period	7/09/16 → 9/09/16

Access to Document

10.1109/SYSTOL.2016.7739779

Cite this

Falconi, G. P., Angelov, J., & Holzapfel, F. (2016). Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. In R. Sarrate (Ed.), 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings (pp. 373-380). Article 7739779 (Conference on Control and Fault-Tolerant Systems, SysTol; Vol. 2016-November). IEEE Computer Society. https://doi.org/10.1109/SYSTOL.2016.7739779

Falconi, Guillermo P. ; Angelov, Jorg ; Holzapfel, Florian. / Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. editor / Ramon Sarrate. IEEE Computer Society, 2016. pp. 373-380 (Conference on Control and Fault-Tolerant Systems, SysTol).

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abstract = "This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the propulsion system without reconfiguration of the controller. Simultaneously it is able to implement a degraded control strategy which prioritizes some control directions in case of extreme degradation.",

author = "Falconi, {Guillermo P.} and Jorg Angelov and Florian Holzapfel",

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Falconi, GP, Angelov, J & Holzapfel, F 2016, Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. in R Sarrate (ed.), 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings., 7739779, Conference on Control and Fault-Tolerant Systems, SysTol, vol. 2016-November, IEEE Computer Society, pp. 373-380, 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016, Barcelona, Spain, 7/09/16. https://doi.org/10.1109/SYSTOL.2016.7739779

Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. / Falconi, Guillermo P.; Angelov, Jorg; Holzapfel, Florian.
2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. ed. / Ramon Sarrate. IEEE Computer Society, 2016. p. 373-380 7739779 (Conference on Control and Fault-Tolerant Systems, SysTol; Vol. 2016-November).

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

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Falconi GP, Angelov J, Holzapfel F. Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller. In Sarrate R, editor, 2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings. IEEE Computer Society. 2016. p. 373-380. 7739779. (Conference on Control and Fault-Tolerant Systems, SysTol). doi: 10.1109/SYSTOL.2016.7739779

Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller

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