Efficient Control Allocation for Fault Tolerant Embedded Systems on Small Autonomous Aircrafts

In this paper, a control allocation module with explicit laws has been designed for fast operation and low computational load, so that this algorithm can run in a small processor or microcontroller with limited floating point operation capability. The control allocation method is capable of compensa...

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Bibliographic Details
Published in2006 International Symposium on Industrial Embedded Systems pp. 1 - 10
Main Authors Ducard, G., Geering, H.P., Dumitrescu, E.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
Actuators
Aerodynamics
Aerospace control
Aircraft
Control systems
Embedded system
Fault detection
Fault tolerant systems
Force control
Velocity control
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Summary:In this paper, a control allocation module with explicit laws has been designed for fast operation and low computational load, so that this algorithm can run in a small processor or microcontroller with limited floating point operation capability. The control allocation method is capable of compensating for actuator faults. Given the appropriate fault detection system, there is no need to redesign the controller, since the control allocator compensates for any fault occurring. A comparison shows that this method yields satisfactory results, provides optimal solutions in some cases, and is simpler and faster than conventional methods.
ISBN:9780780397590
0780397592
ISSN:2150-3109
2150-3117
DOI:10.1109/IES.2006.357465