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

DOI10.2478/AMCS-2018-0022MaRDI QIDQ1784059zbMATH OpenOpenAlexWikidataFDO

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)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

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

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)

Recommendations

• Nonlinear fault tolerant control design for quadrotor unmanned aerial vehicle attitude system
• Robust fault tolerant control based on LADRC for the quadrotor
• Fault Tolerant Control of a Variable Pitch Quadrotor
• Retrofit fault‐tolerant tracking control design of an unmanned quadrotor helicopter considering actuator dynamics
• Nonlinear adaptive fault-tolerant control for a quadrotor UAV based on immersion and invariance methodology

Cites work

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

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

Describes a project that uses

Uses Software

• MPT

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