Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems

Agus Ismail Hasan*, Vincent Klyverts Tofterup, Kjeld Jensen

*Kontaktforfatter for dette arbejde

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

This paper presents development of model-based fail-safe modules for autonomous multirotor Unmanned Aerial Vehicles (UAVs) with safety parachute systems. The module is based on the adaptive eXogenous Kalman filter for actuator fault diagnosis. We assume all states can be measured, such that the primary goal of the filter is not the state estimation from the measurements, but the accurate reconstruction of the multirotor dynamics in real-time. Numerical simulations show the proposed diagnostic filter can be used to estimate the magnitude of the actuator faults accurately. Furthermore, based on simulated and real data recorded during a hexacopter UAV flight when its actuators experiencing complete failure,
the experiment results demonstrate the effectiveness of the approach.
OriginalsprogEngelsk
TitelProceedings of the International Conference on Unmanned Aircraft Systems, ICUAS
ForlagIEEE
Publikationsdato15. aug. 2019
Sider406-412
ISBN (Trykt)978-1-7281-0334-1
ISBN (Elektronisk)978-1-7281-0333-4, 978-1-7281-0332-7
DOI
StatusUdgivet - 15. aug. 2019
Begivenhed2019 International Conference on Unmanned Aircraft Systems - Atlanta Marriott Buckhead Hotel & Conference Center, Atlanta, USA
Varighed: 11. jun. 201914. jun. 2019
Konferencens nummer: 229
http://www.uasconferences.com/

Konference

Konference2019 International Conference on Unmanned Aircraft Systems
Nummer229
LokationAtlanta Marriott Buckhead Hotel & Conference Center
LandUSA
ByAtlanta
Periode11/06/201914/06/2019
Internetadresse

Fingeraftryk

Parachutes
Unmanned aerial vehicles (UAV)
Actuators
State estimation
Kalman filters
Failure analysis
Computer simulation
Experiments

Citer dette

Hasan, A. I., Tofterup, V. K., & Jensen, K. (2019). Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems. I Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS (s. 406-412). IEEE. https://doi.org/10.1109/ICUAS.2019.8798308
Hasan, Agus Ismail ; Tofterup, Vincent Klyverts ; Jensen, Kjeld. / Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems. Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS. IEEE, 2019. s. 406-412
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title = "Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems",
abstract = "This paper presents development of model-based fail-safe modules for autonomous multirotor Unmanned Aerial Vehicles (UAVs) with safety parachute systems. The module is based on the adaptive eXogenous Kalman filter for actuator fault diagnosis. We assume all states can be measured, such that the primary goal of the filter is not the state estimation from the measurements, but the accurate reconstruction of the multirotor dynamics in real-time. Numerical simulations show the proposed diagnostic filter can be used to estimate the magnitude of the actuator faults accurately. Furthermore, based on simulated and real data recorded during a hexacopter UAV flight when its actuators experiencing complete failure,the experiment results demonstrate the effectiveness of the approach.",
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Hasan, AI, Tofterup, VK & Jensen, K 2019, Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems. i Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS. IEEE, s. 406-412, 2019 International Conference on Unmanned Aircraft Systems, Atlanta, USA, 11/06/2019. https://doi.org/10.1109/ICUAS.2019.8798308

Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems. / Hasan, Agus Ismail; Tofterup, Vincent Klyverts; Jensen, Kjeld.

Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS. IEEE, 2019. s. 406-412.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

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AB - This paper presents development of model-based fail-safe modules for autonomous multirotor Unmanned Aerial Vehicles (UAVs) with safety parachute systems. The module is based on the adaptive eXogenous Kalman filter for actuator fault diagnosis. We assume all states can be measured, such that the primary goal of the filter is not the state estimation from the measurements, but the accurate reconstruction of the multirotor dynamics in real-time. Numerical simulations show the proposed diagnostic filter can be used to estimate the magnitude of the actuator faults accurately. Furthermore, based on simulated and real data recorded during a hexacopter UAV flight when its actuators experiencing complete failure,the experiment results demonstrate the effectiveness of the approach.

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Hasan AI, Tofterup VK, Jensen K. Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems. I Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS. IEEE. 2019. s. 406-412 https://doi.org/10.1109/ICUAS.2019.8798308