TY - GEN
T1 - Kalman Filter Based Adaptive Control Allocation
AU - Hafner, Simon
AU - Ryals, Andrea Dan
AU - Li, Hangxu
AU - Pollini, Lorenzo
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In recent years, various approaches for adaptive control allocation have been published with the goal to enable fault tolerance and improve flight performance of overactuated vehicles. Most of the presented methods are based on Model Reference Adaptive Control (MRAC) techniques and/or recursive least squares. In this study, we present a novel strategy combining concurrent learning MRAC and Kalman filtering to adapt the control effectiveness vector. The proposed strategy incorporates short term updates of the direct update as well as stationary correction through the Kalman filter. The adaptive control allocation has been evaluated using a hexacopter high fidelity simulation model. The hexacopter is controlled by an Incremental Nonlinear Dynamic Inversion (INDI) velocity controller and by a backstepping controller. In the simulation, we demonstrated the advantages of the adaptive control allocation for partial loss of effectiveness of one rotor and in nominal conditions. The adaptive control allocation avoided the crash of the hexacopter and improved tracking in forward flight compensating for effectiveness changes.
AB - In recent years, various approaches for adaptive control allocation have been published with the goal to enable fault tolerance and improve flight performance of overactuated vehicles. Most of the presented methods are based on Model Reference Adaptive Control (MRAC) techniques and/or recursive least squares. In this study, we present a novel strategy combining concurrent learning MRAC and Kalman filtering to adapt the control effectiveness vector. The proposed strategy incorporates short term updates of the direct update as well as stationary correction through the Kalman filter. The adaptive control allocation has been evaluated using a hexacopter high fidelity simulation model. The hexacopter is controlled by an Incremental Nonlinear Dynamic Inversion (INDI) velocity controller and by a backstepping controller. In the simulation, we demonstrated the advantages of the adaptive control allocation for partial loss of effectiveness of one rotor and in nominal conditions. The adaptive control allocation avoided the crash of the hexacopter and improved tracking in forward flight compensating for effectiveness changes.
UR - http://www.scopus.com/inward/record.url?scp=85198229184&partnerID=8YFLogxK
U2 - 10.1109/MED61351.2024.10566161
DO - 10.1109/MED61351.2024.10566161
M3 - Conference contribution
AN - SCOPUS:85198229184
T3 - 2024 32nd Mediterranean Conference on Control and Automation, MED 2024
SP - 113
EP - 118
BT - 2024 32nd Mediterranean Conference on Control and Automation, MED 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 32nd Mediterranean Conference on Control and Automation, MED 2024
Y2 - 11 June 2024 through 14 June 2024
ER -