<abstract xmlns="http://www.w3.org/1999/xhtml"><p> This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.</p></abstract>

This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a...

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

Published Online: Jun 29, 2018

Page range: 309 - 321

Received: Mar 19, 2017

Accepted: Jan 29, 2018

DOI: https://doi.org/10.2478/amcs-2018-0022

Keywords
adaptive control, fault tolerant control, fault recovery, MAV flight dynamics and control

© 2018 Guillermo P. Falconì, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

Published Online: Jun 29, 2018

Page range: 309 - 321

Received: Mar 19, 2017

Accepted: Jan 29, 2018

DOI: https://doi.org/10.2478/amcs-2018-0022

Keywordsadaptive control, fault tolerant control, fault recovery, MAV flight dynamics and control

© 2018 Guillermo P. Falconì, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
adaptive control, fault tolerant control, fault recovery, MAV flight dynamics and control