The proposed work introduces a fault-tolerant features to exploit the input redundancy of nonlinear octorotor system. The proposed strategy utilizes the robustness feature of an integral sliding mode controller (ISMC) that is combined with fixed control allocation (CA) scheme and the baseline nonlinear-dynamic-inversion (NDI) controller. In this paper, a closed-loop analysis is executed and stability conditions are acquired. Finally, the simulations on nonlinear system show good tracking results in failure scenarios.
Fault-Tolerant Fixed Allocation Control Scheme for Octorotor
Lect. Notes Electrical Eng.
30.10.2021
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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