A real-time assessment approach to quadrotor flight control capability

To solve the problem for the online assessment of the quadrotor flight control capability, this paper proposes a novel definition of control capability, and an approach to assess the control capability online. A quadrotor fault model is presented firstly, and the real-time fault detection is impleme...

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Bibliographic Details
Published inProceedings of the 33rd Chinese Control Conference pp. 3112 - 3117
Main Authors Liu Bin, Zhao Zhiyao, Yang Binxian, Quan Quan, Cai Kai-Yuan
Format Conference Proceeding
LanguageChinese
English
Published TCCT, CAA 01.07.2014
Subjects
Aerospace control
Control Capability
Controllability
Educational institutions
Electronic mail
Extended Kalman Filter
Hafnium
Kalman filters
Monte Carlo methods
Quadrotor
Real-time systems
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Summary:To solve the problem for the online assessment of the quadrotor flight control capability, this paper proposes a novel definition of control capability, and an approach to assess the control capability online. A quadrotor fault model is presented firstly, and the real-time fault detection is implemented using an Extended Kalman filter. Then, the function fitting method is used to achieve real-time controlability calculation by obtaining the relation between the controllability and the estimated fault vector. Finally, the online assessment of control capability is achieved by the integration of the controllability and the performance factor of the control law. A simulation based on a quadrotor shows that the proposed approach can achieve an accurate online assessment of quadrotor flight control capability.
ISSN:2161-2927
DOI:10.1109/ChiCC.2014.6895449