Adaptive fault-tolerant position control of a hexacopter subject to an unknown motor failure

DOI10.2478/AMCS-2018-0022zbMATH Open1396.93071OpenAlexW2884533173WikidataQ129558879 ScholiaQ129558879MaRDI QIDQ1784059FDOQ1784059

Authors: Guillermo P. Falconì, Jorg Angelov, Florian Holzapfel 

Publication date: 26 September 2018

Published in: International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.2478/amcs-2018-0022

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zbMATH Keywords

adaptive controlfault tolerant controlfault recoveryMAV flight dynamics and control

Mathematics Subject Classification ID

(H^infty)-control (93B36) Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Application models in control theory (93C95) Estimation and detection in stochastic control theory (93E10)

Cites Work

• Rigid-Body Attitude Control
• Efficent line search algorithm for unconstrained optimization
• Systematic fault tolerant control based on adaptive thau observer estimation for quadrotor UAVs
• Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Cited In (4)

• Control of a tilting hexacopter under wind disturbance
• Nonlinear model predictive control for processes with complex dynamics: a parameterisation approach using Laguerre functions
• Self-healing Control Against Actuator Stuck Failures Under Constraints: Application to Unmanned Helicopters
• A multi-model based adaptive reconfiguration control scheme for an electro-hydraulic position servo system

Uses Software

• MPT

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