Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The proposed strategy is optimal in the sense that minimizes the maximum force exerted by the rotors. A comparison with the commonly used strategy based upon the Moore-Penrose pseudoinverse is carried out. It is shown that, with the optimal strategy proposed here, maneuverability is improved, because the new method takes into account the actuators constraints. Although the optimal strategy is computationally more demanding than the classical method, the additional computational burden is not significant when both strategies are compared in a real application. To show this, both algorithms were programmed in an autopilot based on an ARM Cortex M3 microcontroller, and the experimental results are presented.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Hexacopter fault tolerant actuator allocation analysis for optimal thrust


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    2658866 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Control Allocation Switching Scheme for Fault Tolerant Control of Hexacopter

    Kim, Jinrae / Lee, Hanna / Kim, Seong-hun et al. | Springer Verlag | 2022


    Fault-Tolerant Control of a Hexacopter UAV based on Self-Scheduled Control Allocation

    Nguyen, Duc-Tien / Saussie, David / Saydy, Lahcen | IEEE | 2018


    Actuator fault detection and isolation system for an hexacopter

    Freddi, Alessandro / Longhi, Sauro / Monteriu, Andrea et al. | IEEE | 2014


    Fault Tolerant Controller for Hexacopter Using Reinforcement Learning and Extended State Observer

    Lee, Hanna / Kim, Jinrae / Kim, Seong-hun et al. | Springer Verlag | 2022


    FAULT DIAGNOSIS FOR SENSOR AND ACTUATOR OF HEXACOPTER UAV USING DUAL EXTENDED KALMAN FILTER

    Kim, Y. / Kim, T. / Kim, S. | British Library Conference Proceedings | 2022