Fault tolerant control for a hexarotor system using Incremental Backstepping

Falconí, Guillermo P.; Marvakov, Valentin A.; Holzapfel, Florian

doi:10.1109/cca.2016.7587842

Cited by 20 publications

(13 citation statements)

References 17 publications

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“…Incremental backstepping(IBKS) method [12]- [15] is suggested to reduce model dependency of BKS. This incremental controller utilizes additional measurements such as state derivatives and control surface deflection angles, replacing a part of required model information.…”

Section: Introductionmentioning

confidence: 99%

“…Not only for BKS but also for IBKS, it is essential to identify and understand the effects of the model uncertainties on each closed-loop system. There have been some studies [12]- [15] that investigated their closed-loop characteristics under the model uncertainties, but only by numerical simulations or experiments. Since results obtained from simulations or experiments are valid for particular plants under specific conditions, theoretical analysis is necessary for general interpretations on the effects of the model uncertainties to the closed-loop systems with BKS and IBKS.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Understandings of Classical and Incremental Backstepping Controllers With Model Uncertainties

Jeon

Seo

Shin

et al. 2020

IEEE Trans. Aerosp. Electron. Syst.

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This paper suggests closed-loop analysis results for both classical and incremental backstepping controllers considering model uncertainties. First, transfer functions with each control algorithm under the model uncertainties, are compared with the ones for the nominal case. The effects of the model uncertainties on the closed-loop systems are critically assessed via investigations on stability conditions and performance metrics. Second, closed-loop characteristics with classical and incremental backstepping controllers under the model uncertainties are directly compared using derived common metrics from their transfer functions. This comparative study clarifies how the effects of the model uncertainties to the closed-loop system become different depending on the applied control algorithm. It also enables understandings about the effects of additional measurements in the incremental algorithm. Third, case studies are conducted assuming that the uncertainty exists only in one aerodynamic derivative estimate while the other estimates have true values. This facilitates systematic interpretations on the impacts of the uncertainty on the specific aerodynamic derivative estimate to the closed-loop system.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Understandings of Classical and Incremental Backstepping Controllers With Model Uncertainties

Jeon

Seo

Shin

et al. 2020

IEEE Trans. Aerosp. Electron. Syst.

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show abstract

“…However, there are the risks resulting in injury or deaths and damages if multirotors crash. Therefore, multirotor flight crash avoidances in the case of complete motor failures have been studied [2], [4]- [7], [11], [12], [14]- [16], [18]- [20]. However, feedback-loop controls to avoid a crash for both configurations, have been seldom studied.…”

Section: …………………………………………………………………………………………………… Introduction:-mentioning

confidence: 99%

Conditionsto Realize Hexarotor Stable Flights to Avoid a Crash Under Complete Propellor Motor Failures

Isogai¹,

Okazaki²

2020

IJAR

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“…The optimal solution of thrust and torques is arrived at using parametric programming, which is obtained from the search tree method. In [22], an incremental backstepping fault-tolerant control is proposed for a hexacopter under an unknown control degradation occurring in the propulsion system. In [23], a Time Delay Control (TDC) method is presented to address single or multiple failure in the actuator.…”

Section: Introductionmentioning

confidence: 99%

Actuator Fault Detection and Fault-Tolerant Control for Hexacopter

Nguyen

Xuan-Mung

Hong

2019

Sensors

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In this paper, fault detection and fault-tolerant control strategies are proposed to handle the issues of both actuator faults and disturbances in a hexacopter. A dynamic model of a hexacopter is first derived to develop a model-based fault detection system. Secondly, the altitude control based on a sliding mode and disturbance observer is presented to tackle the disturbance issue. Then, a nonlinear Thau observer is applied to estimate the states of a hexacopter and to generate the residuals. Using a fault detection unit, the motor failure is isolated to address the one or two actuator faults. Finally, experimental results are tested on a DJI F550 hexacopter platform and Pixhawk2 flight controller to verify the effectiveness of the proposed approach. Unlike previous studies, this work can integrate fault detection and fault-tolerant control design as a single unit. Moreover, the developed fault detection and fault-tolerant control method can handle up to two actuator failures in presence of disturbances.

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Fault tolerant control for a hexarotor system using Incremental Backstepping

Cited by 20 publications

References 17 publications

Understandings of Classical and Incremental Backstepping Controllers With Model Uncertainties

Understandings of Classical and Incremental Backstepping Controllers With Model Uncertainties

Conditionsto Realize Hexarotor Stable Flights to Avoid a Crash Under Complete Propellor Motor Failures

Actuator Fault Detection and Fault-Tolerant Control for Hexacopter

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