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.
引用
收藏
页数：6
相关论文
共 50 条
  • [21] Fault-Tolerant Control for Euler-Bernoulli Beam Systems by Using Backstepping Approach
    Zhao, Dong
    Jiang, Bin
    Yang, Hao
    Tao, Gang
    2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 5895 - 5900
  • [22] Fault tolerant control system synthesis using imprecise fault identification and reconfigurable control
    Jiang, J
    Zhao, Q
    JOINT CONFERENCE ON THE SCIENCE AND TECHNOLOGY OF INTELLIGENT SYSTEMS, 1998, : 169 - 174
  • [23] Adaptive finite-time incremental backstepping fault-tolerant control for flying-wing aircraft with state constraints
    Li, Wangmian
    Han, Xiao
    Zhi, Yongran
    Wang, Bo
    Liu, Lei
    Fan, Huijin
    AEROSPACE SCIENCE AND TECHNOLOGY, 2024, 147
  • [24] Time delay backstepping based fault tolerant attitude control of satellites
    Ma, Guangfu
    Jiang, Ye
    Hu, Qinglei
    Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica, 2010, 31 (05): : 1066 - 1073
  • [25] Joint Sensor Based Backstepping for Fault-Tolerant Flight Control
    Sun, L. G.
    de Visser, C. C.
    Chu, Q. P.
    Mulder, J. A.
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2015, 38 (01) : 62 - 75
  • [26] Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator
    Awan, Zainab Shahid
    Ali, Khurram
    Iqbal, Jamshed
    Mehmood, Adeel
    JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY, 2019, 14 (06) : 2497 - 2504
  • [27] Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator
    Zainab Shahid Awan
    Khurram Ali
    Jamshed Iqbal
    Adeel Mehmood
    Journal of Electrical Engineering & Technology, 2019, 14 : 2497 - 2504
  • [28] Aircraft fault-tolerant trajectory control using Incremental Nonlinear Dynamic Inversion
    Lu, Peng
    van Kampen, Erik-Jan
    de Visser, Cornelis
    Chu, Qiping
    CONTROL ENGINEERING PRACTICE, 2016, 57 : 126 - 141
  • [29] A reliable fault tolerant attitude control system based on an adaptive fault detection and diagnosis algorithm together with a backstepping fault recovery controller
    Bolandi, H.
    Haghparast, M.
    Abedi, M.
    SCIENTIA IRANICA, 2013, 20 (06) : 1999 - 2014
  • [30] Robust adaptive fault-tolerant control of dynamic positioning vessel with position reference system faults using backstepping design
    Yu, Wen-Zhao
    Xu, Hai-Xiang
    Feng, Hui
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2018, 28 (02) : 403 - 415
12345