Uniform Fault-Tolerant Control of a Quadcopter with Rotor Failure
Автор: BUAA Reliable Flight Control Group
Загружено: 2021-11-05
Просмотров: 891
Описание:
This paper provides a uniform fault-tolerant controller for a quadcopter without controller switching in case that one rotor fails completely.
The fault-tolerant control adopts control allocation based on an optimization method as the core of control.
It will abandon the yaw channel when a rotor fails completely for which the motion characteristics of the free-rotation quadcopter and the degree of controllability are analyzed.
For practical implementation, the rotor dynamics has been further taken into consideration as first-order dynamics and then a compensator is used to improve the rotor response.
To validate the proposed controller, first, digital simulation studies are conducted to verify the control logic.
Second, the hardware-in-the-loop simulation of the fault-tolerant control method highlights the feasibility and high efficiency on an embedded system.
Finally, an outdoor experiment with on board sensors and GPS demonstrates that the fault-tolerant controller has the ability to make quadcopters fly safely when an arbitrary rotor fails completely.
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