Fault-tolerant control is currently the most important step towards increased autonomy for Unmanned Aerial Vehicles (UAVs). In this work, we consider actuator and airframe faults in fixed-wing UAVs and show that an online Flight Envelope (FE) calculation can interpret their effect on the achievable trim trajectories. Subsequently, we design a fully integrated control scheme with a RRT-based planner and 3 Nonlinear Model Predictive Control (MPC) layers. The FE is provided at each control layer with the beneficial result that non-trimmable, unstable trajectories are avoided. Results from high-fidelity simulations are provided.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    A Fault-Tolerant Control Scheme for Fixed-Wing UAVs with Flight Envelope Integration




    Erscheinungsdatum :

    01.09.2020


    Format / Umfang :

    1657124 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Flight Demonstrations of Fault Tolerant Flight Control Using Small UAVs

    Suzuki, Shinji / Yoshimatsu, Yuka / Miyaji, Koichi | Springer Verlag | 2013


    Flight Demonstrations of Fault Tolerant Flight Control Using Small UAVs

    Suzuki, S. / Yoshimatsu, Y. / Miyaji, K. | British Library Conference Proceedings | 2013