Experimental evaluation of an active fault-tolerant control scheme for multirotor UAVs

This paper presents experimental results that have been obtained by applying an active fault-tolerant control (FTC) framework to multirotor UAVs subject to actuator failures. The proposed fault-tolerant control scheme combines a bank of observers for diagnosis with the concept of the virtual actuato...

Full description

Saved in:
Bibliographic Details
Published inConference on Control and Fault-Tolerant Systems (Print) pp. 125 - 132
Main Authors Vey, Daniel, Lunze, Jan
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2016
Subjects
Actuators
Fault tolerance
Fault tolerant systems
Noise measurement
Observers
Rotors
Trajectory
Online AccessGet full text
ISSN2162-1209
DOI10.1109/SYSTOL.2016.7739739

Cover

More Information
Summary:This paper presents experimental results that have been obtained by applying an active fault-tolerant control (FTC) framework to multirotor UAVs subject to actuator failures. The proposed fault-tolerant control scheme combines a bank of observers for diagnosis with the concept of the virtual actuator for control reconfiguration. Therefore, an evaluation method for fault detection and isolation is presented, which guarantees that the diagnosis result is always adequate for control reconfiguration. The experiments with a hovering multirotor UAV subject to a rotor failure validate the applicability of the proposed FTC scheme under real-time constraints and in the presence of natural uncertainties, measurement noise and process disturbances.
ISSN:2162-1209
DOI:10.1109/SYSTOL.2016.7739739