TY - GEN
T1 - L1 fault tolerant adaptive control of a hexacopter with control degradation
AU - Miihlegg, Maximilian
AU - Niermeyer, Philipp
AU - Falconi, Guillermo P.
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/4
Y1 - 2015/11/4
N2 - In this paper we present a nonlinear control framework for the attitude of a hexacopter system, which is able to cope with motor degradation. Approximate model inversion transforms the plant into an equivalent linear form. A linear error controller enables tracking of a designer chosen reference model. The control framework is augmented by an L1 adaptive controller, in order to cope with uncertainties. Due to the nature of the L1 controller, performance and robustness are decoupled, which allows for a fast and reliable compensation of faults. We present a condition on the control allocation in order to achieve attitude stabilization during hover. The performance of the control architecture is corroborated in numerical simulation using a high fidelity simulation model of a hexacopter system. After that flight test results with motor degradation are presented.
AB - In this paper we present a nonlinear control framework for the attitude of a hexacopter system, which is able to cope with motor degradation. Approximate model inversion transforms the plant into an equivalent linear form. A linear error controller enables tracking of a designer chosen reference model. The control framework is augmented by an L1 adaptive controller, in order to cope with uncertainties. Due to the nature of the L1 controller, performance and robustness are decoupled, which allows for a fast and reliable compensation of faults. We present a condition on the control allocation in order to achieve attitude stabilization during hover. The performance of the control architecture is corroborated in numerical simulation using a high fidelity simulation model of a hexacopter system. After that flight test results with motor degradation are presented.
UR - https://www.scopus.com/pages/publications/84964336874
U2 - 10.1109/CCA.2015.7320707
DO - 10.1109/CCA.2015.7320707
M3 - Conference contribution
AN - SCOPUS:84964336874
T3 - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
SP - 750
EP - 755
BT - 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE Conference on Control and Applications, CCA 2015
Y2 - 21 September 2015 through 23 September 2015
ER -