Abstrakt
This paper presents a method for advanced fault tolerant control (FTC) of multirotor unmanned aerial vehicles (UAVs), which includes anomaly detection on sensor measurements, fault estimation on actuators, and a robust model predictive control (MPC). To detect anomalies on the sensor measurements, an Echo State Network is used. System states and faults are estimated using an adaptive extended Kalman filter. The system is further controlled using MPC. The method is tested in numerical simulations with a hexacopter dynamic model. Simulation results show the ability of the FTC to handle failure with different even and uneven actuator faults.
| Originalsprog | Engelsk |
|---|---|
| Titel | 2022 American Control Conference, ACC 2022 |
| Forlag | IEEE |
| Publikationsdato | 2022 |
| Sider | 4305-4310 |
| ISBN (Elektronisk) | 9781665451963 |
| DOI | |
| Status | Udgivet - 2022 |
| Begivenhed | 2022 American Control Conference, ACC 2022 - Atlanta, USA Varighed: 8. jun. 2022 → 10. jun. 2022 |
Konference
| Konference | 2022 American Control Conference, ACC 2022 |
|---|---|
| Land/Område | USA |
| By | Atlanta |
| Periode | 08/06/2022 → 10/06/2022 |
| Sponsor | Boeing, et al., General Motors Co., MathWorks, Mitsubishi Electric Research Laboratory ((MERL), Quanser |
| Navn | Proceedings of the American Control Conference |
|---|---|
| Vol/bind | 2022-June |
| ISSN | 0743-1619 |
Bibliografisk note
Funding Information:ACKNOWLEDGMENT This paper is partially funded by Equinor’s gift professorship in system dynamics for development of digital twin at NTNU.
Publisher Copyright:
© 2022 American Automatic Control Council.