TY - GEN
T1 - Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight
AU - Tzoumanikas, Dimos
AU - Yan, Qingyue
AU - Leutenegger, Stefan
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - Safe and precise reference tracking is a crucial characteristic of Micro Aerial Vehicles (MAVs) that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a Nonlinear Model Predictive Control (NMPC) that exploits the fully physics based non-linear dynamics of the system. We furthermore show how the moment and thrust control inputs can be transformed into feasible actuator commands. In order to guarantee safe operation despite potential loss of a motor under which we show our system keeps operating safely, we developed an Extended Kalman Filter (EKF) based motor failure identification algorithm. We verify the effectiveness of the developed pipeline in flight experiments with and without motor failures.
AB - Safe and precise reference tracking is a crucial characteristic of Micro Aerial Vehicles (MAVs) that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a Nonlinear Model Predictive Control (NMPC) that exploits the fully physics based non-linear dynamics of the system. We furthermore show how the moment and thrust control inputs can be transformed into feasible actuator commands. In order to guarantee safe operation despite potential loss of a motor under which we show our system keeps operating safely, we developed an Extended Kalman Filter (EKF) based motor failure identification algorithm. We verify the effectiveness of the developed pipeline in flight experiments with and without motor failures.
UR - http://www.scopus.com/inward/record.url?scp=85092697165&partnerID=8YFLogxK
U2 - 10.1109/ICRA40945.2020.9196690
DO - 10.1109/ICRA40945.2020.9196690
M3 - Conference contribution
AN - SCOPUS:85092697165
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8538
EP - 8544
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -