Fault Tolerant Control for a Hexarotor System using Incremental Backstepping

被引：0
|
作者：
Falconi, Guillermo P. [1 ]
Marvakov, Valentin A. [1 ]
Holzapfel, Florian [1 ]
机构：
[1] Tech Univ Munich, Inst Flight Syst Dynam FSD, Munich, Germany
来源：
2016 IEEE CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2016年
关键词：
NONLINEAR DYNAMIC INVERSION; ATTITUDE-CONTROL;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, the design of an Incremental Back-stepping controller for fault tolerant control of a hexacopter system is presented. The proposed controller compensates for the modeling mismatches including faults by relying on sensor measurements. Outdoor flight test results show the better performance of the Incremental Backstepping controller compared to the Backstepping controller. Furthermore, robustness against faults is demonstrated for the case of unknown control degradation within the propulsion system.
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页数：6
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