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Paper details
Number 2 - June 2018
Volume 28 - 2018
Adaptive fault-tolerant position control of a hexacopter subject to an unknown motor failure
Guillermo P. Falconí, Jorg Angelov, Florian Holzapfel
Abstract
This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a
cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive
control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the
controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions
in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by
including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any
rotor.
Keywords
adaptive control, fault tolerant control, fault recovery, MAV flight dynamics and control