RLS-based fault-tolerant tracking control of Multirotor Aerial Vehicles (CROSBI ID 652532)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Muhamed Kuric ; Bakir Lacevic ; Nedim Osmic
engleski
RLS-based fault-tolerant tracking control of Multirotor Aerial Vehicles
This paper presents a fault-tolerant PD tracking system for Multirotor Aerial Vehicles (MAV) based on a novel Recursive Least Squares (RLS) Fault Detection and Isolation (FDI) algorithm utilized to diagnose propulsion system faults. As a test platform we investigate an octorotor model, including rigid body dynamics, the gyroscopic effect and motor dynamics. A hover configuration control is extended into an adaptive, fault-tolerant PD tracking controller. The approach is validated within a simulation study that includes a severe triple rotor fault scenario.
Rotors, Fault tolerance, Fault tolerant systems, Mathematical model, Propulsion, PD control, Dynamics
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Podaci o prilogu
1148-1153.
2017.
objavljeno
Podaci o matičnoj publikaciji
978-1-5090-6000-9
Podaci o skupu
Advanced Intelligent Mechatronics (AIM), 2017 IEEE International Conference on
predavanje
03.07.2017-07.07.2017
München, Njemačka