High-Speed Flight of Quadrotor Despite Loss of Single Rotor

Sun, Sihao; Sijbers, Leon; Wang, Xuerui; Visser, Coen C. de

doi:10.1109/lra.2018.2851028

Cited by 51 publications

(34 citation statements)

References 19 publications

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“…The authors of [2] considered the initial spinning phase with varying yaw rate, using a linear parameter varying controller. As the above controllers did not consider aerodynamic effects, the INDI approach was applied in [3] and [4] to render the controller resilient to significant aerodynamic disturbances in high-speed wind-tunnel flight tests.…”

Section: B Related Work 1) Quadrotor Fault-tolerant Controlmentioning

confidence: 99%

“…Previous works have achieved autonomous flight of a quadrotor subjected to complete failure of a single rotor [1], [2], and even in high-speed flight conditions where aerodynamic disturbances are apparent [3], [4]. However, these methods rely on external sensors, such as GPS or motion capture systems, for position tracking, which completely eliminate or alleviate the effects of state estimation errors.…”

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confidence: 99%

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Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

Sun

Cioffi

Visser

et al. 2021

IEEE Robot. Autom. Lett.

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Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on external sensors, such as GPS or motion capture systems, for state estimation. To the best of our knowledge, this has not yet been achieved with only onboard sensors. In this paper, we propose the first algorithm that combines fault-tolerant control and onboard vision-based state estimation to achieve position control of a quadrotor subjected to complete failure of one rotor. Experimental validations show that our approach is able to accurately control the position of a quadrotor during a motor failure scenario, without the aid of any external sensors. The primary challenge to vision-based state estimation stems from the inevitable high-speed yaw rotation (over 20 rad/s) of the damaged quadrotor, causing motion blur to cameras, which is detrimental to visual inertial odometry (VIO). We compare two types of visual inputs to the vision-based state estimation algorithm: standard frames and events. Experimental results show the advantage of using an event camera especially in low light environments due to its inherent high dynamic range and high temporal resolution. We believe that our approach will render autonomous quadrotors safer in both GPS denied or degraded environments. We release both our controller and VIO algorithm open source.

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Section: B Related Work 1) Quadrotor Fault-tolerant Controlmentioning

confidence: 99%

mentioning

confidence: 99%

Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

Sun

Cioffi

Visser

et al. 2021

IEEE Robot. Autom. Lett.

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“…If G(x, κ(t)) becomes singular because of faults, subspace control strategies need to be used. For example, a subspace control strategy is used in conjunction with Incremental Nonlinear Dynamic Inversion (INDI) in [29] for achieving the high speed flight (over 9 m/s) of a damaged quadrotor with complete loss of a single rotor.…”

Section: Incremental Sliding Mode Control Driven By Sliding Mode Distmentioning

confidence: 99%

“…3, these aerodynamic effects caused by V w are viewed as external disturbances. For more details about the influences of atmospheric disturbances on the quadrotors, readers are recommended to Ref [29]…”

mentioning

confidence: 99%

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Wang

Sun

Kampen

et al. 2019

Aerospace Science and Technology

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This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear Dynamic Inversion (NDI) in the literature, the model dependency of the controller and the uncertainties in the closed-loop system are simultaneously reduced. This allows INDI-SMC/SMDO to passively resist a wider variety of faults and external disturbances using continuous control inputs with lower control and observer gains. When applied to a quadrotor, both numerical simulations and real-world flight tests demonstrate that INDI based SMC/SMDO has better performance and robustness over NDI based SMC/SMDO, in the presence of model uncertainties, wind disturbances, and sudden actuator faults. Moreover, the implementation process is simplified because of the reduced model dependency and smaller uncertainty variations of INDI-SMC/SMDO. Therefore, the proposed control method can be easily implemented to improve the performance and survivability of quadrotors in real life.

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“…In [17], a flight control strategy based on the INDI method has been applied to a T-tailed UAV simulation model, which showed increased robustness of the system. Real-world flight tests on a quad-rotor UAV have demonstrated high performances of the INDI controller with very coarse knowledge of model parameters in advance [20,21]. Highly nonlinear and inherently unstable models of helicopters [22] as well as over-actuated tailless aircraft [23] also utilized the INDI method in controller design to achieve efficient tracking of the commands under model uncertainties.…”

Section: Reconfiguration Of Flight Controlsmentioning

confidence: 99%

Database-driven Safe Flight Envelope Protection for Impaired Aircraft

Zhang

Huang

Chu

et al. 2020

AIAA Scitech 2020 Forum

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In this paper, an online flight envelope protection system is developed and implemented on impaired aircraft with structural damage. The whole protection system is designed to be a closed-loop of several subsystems , including system identification, damage classification, flight-envelope prediction and fault-tolerant control. Based on the information given by damage classification, the flight envelopes are explicitly retrieved and processed online from the database and fed into the fault-tolerant controller, which makes the protection system adaptive to a wide range of abnormal conditions. Simulation results show that with envelope protection, loss-ofcontrol accidents are more likely to be prevented, since both the controller and pilots are aware of the shrunken flight envelopes after damage and excessive commands are restricted. In this way, the fault-tolerance of the impaired aircraft can be effectively enhanced.

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High-Speed Flight of Quadrotor Despite Loss of Single Rotor

Cited by 51 publications

References 19 publications

Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

Database-driven Safe Flight Envelope Protection for Impaired Aircraft

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