Motor Failure Tolerant Control System with Self Diagnostics for Unmanned Multirotors

Leszek Ambroziak , Ashutosh Simha , Ewa Pawłuszewicz , Ülle Kotta , Arkadiusz Bożko , Mirosław Kondratiuk

Abstract

The paper presents a method for rotor failure detection and control system reconfiguration in case of unmanned multirotor propulsion system breakdown. The proposed algorithm uses onboard IMU measurements for failure detection and isolation. An adaptive fault tolerant control is designed for detecting and correcting partial or complete rotor failures. In case of a complete failure, the center of mass is reconfigured and control system is switched to a tri-rotor configuration. It has been demonstrated through simulations that the adaptive parameters converge to the true values of rotor efficiency. Further, in-flight experiments were conducted to demonstrate the failure detection and fault tolerant controller on a MAV quadrotor. Obtained results validate the effectiveness of the proposed motor failure tolerant control method to effectively compensate for complete loss of one rotor, leading to a resilient flight control mechanism.
Author Leszek Ambroziak (FME/DARM)
Leszek Ambroziak,,
- Department of Automatic Control and Robotics
, Ashutosh Simha
Ashutosh Simha,,
-
, Ewa Pawłuszewicz (FME/DARM)
Ewa Pawłuszewicz,,
- Department of Automatic Control and Robotics
, Ülle Kotta
Ülle Kotta,,
-
, Arkadiusz Bożko (FME/DARM)
Arkadiusz Bożko,,
- Department of Automatic Control and Robotics
, Mirosław Kondratiuk (FME/DARM)
Mirosław Kondratiuk,,
- Department of Automatic Control and Robotics
Pages422-427
Publication size in sheets0.50
Book 24th International Conference on Methods and Models in Automation & Robotics: MMAR 2019, 2019, Institute of Electrical and Electronics Engineers, ISBN 978-1-7281-0932-9, 668 p.
Keywords in Englishmotor failure, control reconfiguration, diagnostics, UAV
Internal identifierROC 19-20
Languageen angielski
Score (nominal)20
Score sourcepublisherList
ScoreMinisterial score = 20.0, 11-03-2020, ChapterFromConference
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