Active Fault-Tolerant Control applied to a hexacopter under propulsion system failures

This work presents a new Active Fault-Tolerant Control (AFTC) method to maintain the Unmanned Aerial Vehicles (UAV) stable and controllable even under a total fault up to one propulsion system actions. The proposed approach is based on the control system re-configuration of the remaining propellers....

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Bibliographic Details
Published in2015 19th International Conference on System Theory, Control and Computing (ICSTCC) pp. 447 - 453
Main Authors Santos, Murillo F., Honorio, Leonardo M., Costa, Exuperry B., Oliveira, Edimar J., Portella Guedes Visconti, Joao Pedro
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2015
Subjects
Aircraft
Control systems
Fault tolerance
Fault tolerant systems
Fault-Tolerant Control
Hexacopter
Mathematical model
PID
Propulsion
Pulse width modulation
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Summary:This work presents a new Active Fault-Tolerant Control (AFTC) method to maintain the Unmanned Aerial Vehicles (UAV) stable and controllable even under a total fault up to one propulsion system actions. The proposed approach is based on the control system re-configuration of the remaining propellers. As the system is no longer controllable in all six degrees of freedom, one dimension should be abandoned. In this case, the control of yaw dynamics was chosen to be ignored because less crash risk is introduced. Than the remaining variables became controllable leading the aircraft to safely land and without shortcoming.
DOI:10.1109/ICSTCC.2015.7321334