Autonomous Flight of Hexacopter Under Propulsion System Failure

Yi, Yang; Iwakura, Daisuke; Namiki, Akio; Nonami, Kenzo; Wang, Wei

doi:10.20965/jrm.2016.p0899

Cited by 4 publications

(2 citation statements)

References 11 publications

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“…The results displayed the effectiveness of the proposed controller strategy in avoiding the unknown obstacles and positively tracking the desired paths. Further, Yang, et al [164] demonstrated a solution for a failure in the motors system of a hexacopter by using SMC for outdoor flight tests. Zhang et al [165] presented a robust BC strategy to solve the trajectory tracking problems of a hexacopter system due to the coupled characteristics in the presence of uncertainties and disturbances.…”

Section: Multi-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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This paper presents a review of the various control strategies that have been conducted to address and resolve several challenges for a particular category of unmanned aerial vehicles (UAVs), the emphasis of which is on the rotorcraft or rotary-wing systems. Initially, a brief overview of the important relevant definitions, configurations, components, advantages/disadvantages, and applications of the UAVs is first introduced in general, encompassing a wide spectrum of the flying machines. Subsequently, the focus is more on the two most common and versatile rotorcraft UAVs, namely, the twin-rotor and quadrotor systems. Starting with a brief background on the dual-rotor helicopter and a quadcopter, the full detailed mathematical dynamic model of each system is derived based on the Euler-Lagrange and Newton-Euler methods, considering a number of assumptions and considerations. Then, a state-of-the-art review of the diverse control strategies for controlling the rotorcraft systems with conceivable solutions when the systems are subjected to the different impediments is demonstrated. To counter some of these limitations and adverse operating/loading conditions in the UAVs, several innovative control techniques are particularly highlighted, and their performance are duly analyzed, discussed, and compared. The applied control techniques are deemed to produce a useful contribution to their successful implementation in the wake of varied constraints and demanding environments that result in a degree of robustness and efficacy. Some of the off-the-shelf developments in the rotorcraft systems for research and commercial applications are also presented.

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Section: Multi-rotor Systemsmentioning

confidence: 99%

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

2020

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“…Most of them are partial results showing only failure detection and identification (Freddi et al, 2014), or only controller reconfiguration assuming that the fault has been already identified (Achtelik et al, 2012;Du et al, 2015;Schneider et al, 2012;Santos et al, 2015), or using external sensors for having an accurate position measurement (Amoozgar et al, 2012;Dydek et al, 2010;Mueller and D'Andrea, 2014;Saied et al, 2015;Vey and Lunze, 2016), or making computations off-board (Dydek et al, 2013). Furthermore, in the special case of the hexarotor, the controllers are applied to different levels of actuator faults: only degradation (Heise et al, 2014;Mühlegg et al, 2015), the total failure of one rotor excluding a group of rotors (Vey and Lunze, 2016;Yang et al, 2016), the total failure of any rotor (Falconí et al, 2016) and the total failure of more than one rotor (Mueller and D'Andrea, 2014). The complexity increases with each of these cases because after a rotor failure the set of attainable forces and moments is noticeably reduced and saturations become an issue.…”

Section: Introductionmentioning

confidence: 99%

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

Falconí

Angelov

Holzapfel

2018

International Journal of Applied Mathematics and Computer Science

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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.

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Fault-Tolerant Aircraft Control Based on Self-Constructing Fuzzy Neural Network for Quadcopter

Yang

Liu

et al. 2021

IJAT

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This paper proposes a fault-tolerant aircraft control method based on a self-constructed fuzzy neural network for quadcopters with multiple actuator faults. We first introduce the actuator failure model and the model uncertainty. Subsequently, we establish a framework for a self-constructed fuzzy neural network observer with an adaptive rate to obtain the estimated value of the nonlinear term of the module uncertainty. We also design a multivariable sliding mode fault-tolerant controller to ensure the stability of the aircraft under this fault condition. Finally, we conduct experiments using the Pixhawk 4 flight controller installed on the QBall-X4 UAV experimental platform, such that the use of the flight controller’s fault coprocessor and redundant sensor design reduces the crash that occurs during the debugging of the control algorithm. Compared to the existing intelligent fault-tolerant control technology, our proposed method employs fewer fuzzy rules, and the number of these rules can be adaptively adjusted when the system model changes. In the experimental test, the aircraft was still able to fly stably under multi-actuator failure and interference conditions, thereby proving the stability of the proposed controller.

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Autonomous Flight of Hexacopter Under Propulsion System Failure

Cited by 4 publications

References 11 publications

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

Control Strategies and Novel Techniques for Autonomous Rotorcraft Unmanned Aerial Vehicles: A Review

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

Fault-Tolerant Aircraft Control Based on Self-Constructing Fuzzy Neural Network for Quadcopter

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