This paper addresses the active fault tolerant control problem for a tilted hexarotor under both actuator faults and failures, modelled respectively as partial or total losses of effectiveness. A disturbance observer based control approach is adopted in order to estimate faults and failures, and cope with them at the control level. An inner-outer loop tracking control law is then designed which, thanks to the actuation properties of the hexarotor, does not require any reconfiguration neither in response to a fault nor failure. The control scheme is tested in simulation, with parameters of a real hexarotor and realistic sensor noise.
Fault Tolerant Control for Tilted Hexarotors Under a Rotor Failure / Baldini, A.; Felicetti, R.; Freddi, A.; Longhi, S.; Monteriu', A.. - 56:(2023), pp. 2486-2493. (Intervento presentato al convegno 22nd IFAC World Congress tenutosi a Yokohama, Japan nel 2023) [10.1016/j.ifacol.2023.10.1228].
Fault Tolerant Control for Tilted Hexarotors Under a Rotor Failure
Baldini A.;Felicetti R.;Freddi A.;Longhi S.;Monteriu' A.
2023-01-01
Abstract
This paper addresses the active fault tolerant control problem for a tilted hexarotor under both actuator faults and failures, modelled respectively as partial or total losses of effectiveness. A disturbance observer based control approach is adopted in order to estimate faults and failures, and cope with them at the control level. An inner-outer loop tracking control law is then designed which, thanks to the actuation properties of the hexarotor, does not require any reconfiguration neither in response to a fault nor failure. The control scheme is tested in simulation, with parameters of a real hexarotor and realistic sensor noise.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
