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.


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    Title :

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




    Publication date :

    2020-09-01


    Size :

    1657124 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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