Emergency landing for a quadrotor in case of a propeller failure: A backstepping approach

Lippiello, Vincenzo; Ruggiero, Fabio; Serra, Diana

doi:10.1109/iros.2014.6943242

Cited by 75 publications

(46 citation statements)

References 22 publications

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“…Reference [22] used a periodic solution to address this problem. In [23], a quadcopter was switched to birotor operation to achieve a safe landing, i.e., cutting power to the motor directly opposite to the failing rotor. Merheb et al [24] proposed an emergency controller to control the trajectory using additional mass.…”

Section: Related Reviewmentioning

confidence: 99%

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Nguyen

Hong

2019

Energies

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Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm.

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Section: Related Reviewmentioning

confidence: 99%

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Nguyen

Hong

2019

Energies

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“…The aerial vehicle does not pass through representation singularities: the allowable configuration space for the roll-pitch-yaw angles η b is Q = {η b ∈ R 3 : θ = π/2 + kπ, φ = π/2 + kπ, k ∈ Z}. The detailed expressions for R b (η b ) and Q(η b ) can be found in [25], [26].…”

Section: Modelingmentioning

confidence: 99%

“…The control is designed by employing a PID based controller, where coupling between inner and outer control loops are explicitly taken into account in the stability proof. In [25] authors have employed a backstepping approach to solve the same issues but theory has covered only regulation cases: this is overcome by using the proposed PID based approach.…”

Section: Introductionmentioning

confidence: 99%

Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

Lippiello

Ruggiero

Serra

2014

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)

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A controller dealing with the failure of a quadrotor's motor is presented in this paper. Supposing that the failure has been already detected by the system, the quadrotor is modelled as a birotor with fixed propellers and it is controlled to follow a planned emergency landing trajectory. Theory shows that, in such a configuration, the aerial vehicle is allowed to reach any position in the Cartesian space dropping the possibility to control the yaw angle. Simulations are presented to confirm the presented methodology.

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“…Although the failsafe controller is more straightforward to design for multirotor drones with six or eight rotors, some controllers were also designed to manage an actuator failure of quadrotor. Examples of failsafe controllers for a quadrotor can be found in [6][7][8]. Multirotor platforms have become very popular and their usage has spread over all fields.…”

Section: Introductionmentioning

confidence: 99%

Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand

et al. 2020

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This article is a continuation of our previously published work that presented a comparison of nine attitude quaternion-based controllers of the quadrotor in simulation environment. In this article, the best three controllers were implemented into the real quadrotor. Namely proportional derivative (PD), linear quadratic regulator (LQR) and backstepping quaternion-based control techniques were evaluated. As a suitable test stand was not available on the basis of literature analysis, the article also outlines the requirements and the development of a new innovative test stand. In order to provide a comprehensive overview, the hardware and software that was used is also presented in the article. The main contribution of this article is a performance comparison of the controllers, which was based on absolute quaternion (positioning) error and energy consumption.The quadrotor is coupled and underactuated system (i.e., six degrees of freedom are controlled only by four actuators). The translational motion of the quadrotor depends on the attitude of the quadrotor as can be seen from the equations in [9]. By this means, the quadrotor is a cascade system [10]. Therefore, a cascade structure of a controller is usually applied to control position and attitude of the quadrotor. Various controllers based on classic or modern control theory were already designed and verified. The non-linear or linear model of a quadrotor is used depending on the chosen control method [11].The linear model of a quadrotor is achieved by linearization of the non-linear model around a hovering point. Controllers using the linearized model generally perform well around this hovering point. When the quadrotor goes away from the linearized point, the performance may worsen. Furthermore, the input saturation can cause control failure when large rapid maneuvers are required [3,5,12,13]. The main advantages of linear controllers are simplicity and ease of implementation to a real platform. The disadvantage of this approach is the use of the linearized model of the quadrotor during the process of designing a controller. Commonly used linear controllers are a linear quadratic regulator (LQR) and a proportional derivative (PD) controller [14][15][16].Another group of controllers consists of a wide variety of non-linear controllers. The serious disadvantage of these controllers is the complexity that prevents the wide adoption of non-linear controllers in real applications. Among non-linear methods, the backstepping control technique based on the Lyapunov function is widely adopted due to its systematic design and an intuitive approach [17]. The proposed control law is based on the compensation of non-linear forces or torques depending on whether an attitude or position controller is being designed. Applying Lyapunov stability analysis proves that the closed-loop system is asymptotically stable. This approach was used to stabilize the quadrotor in [3,5,12,[18][19][20][21].A backstepping-based inverse optimal attitude controller (BIOAC) was derived in [3] ta...

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Emergency landing for a quadrotor in case of a propeller failure: A backstepping approach

Cited by 75 publications

References 22 publications

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Fault Diagnosis and Fault-Tolerant Control Scheme for Quadcopter UAVs with a Total Loss of Actuator

Emergency landing for a quadrotor in case of a propeller failure: A PID based approach

Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand

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