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

Agus Ismail Hasan; Vincent Klyverts Tofterup; Kjeld Jensen

doi:10.1109/ICUAS.2019.8798308

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

Agus Ismail Hasan^*, Vincent Klyverts Tofterup, Kjeld Jensen

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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.

Original language	English
Title of host publication	Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS
Publisher	IEEE
Publication date	15. Aug 2019
Pages	406-412
ISBN (Print)	978-1-7281-0334-1
ISBN (Electronic)	978-1-7281-0333-4, 978-1-7281-0332-7
DOIs	https://doi.org/10.1109/ICUAS.2019.8798308
Publication status	Published - 15. Aug 2019
Event	2019 International Conference on Unmanned Aircraft Systems - Atlanta Marriott Buckhead Hotel & Conference Center, Atlanta, United States Duration: 11. Jun 2019 → 14. Jun 2019 Conference number: 229 http://www.uasconferences.com/

Conference

Conference	2019 International Conference on Unmanned Aircraft Systems
Number	229
Location	Atlanta Marriott Buckhead Hotel & Conference Center
Country/Territory	United States
City	Atlanta
Period	11/06/2019 → 14/06/2019
Internet address	http://www.uasconferences.com/

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10.1109/ICUAS.2019.8798308

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2 Finished

Healthcare cargo and person transportation drones
Knudsen, M. P. (PI)
01/01/2019 → 31/12/2021
Project: Research
FreeD: Free the Drones
Knudsen, M. P. (PI)
01/03/2016 → 29/02/2020
Project: Research

Cite this

@inproceedings{8336b5dbd6d84e9fb9077ae5fddf6a10,

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.",

author = "Hasan, {Agus Ismail} and Tofterup, {Vincent Klyverts} and Kjeld Jensen",

year = "2019",

month = aug,

day = "15",

doi = "10.1109/ICUAS.2019.8798308",

language = "English",

isbn = "978-1-7281-0334-1",

pages = "406--412",

booktitle = "Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS",

publisher = "IEEE",

address = "United States",

note = "2019 International Conference on Unmanned Aircraft Systems, ICUAS 2019 ; Conference date: 11-06-2019 Through 14-06-2019",

url = "http://www.uasconferences.com/",

}

Hasan, AI, Tofterup, VK & Jensen, K 2019, Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems. in Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS. IEEE, pp. 406-412, 2019 International Conference on Unmanned Aircraft Systems, Atlanta, Georgia, United States, 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. p. 406-412.

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

TY - GEN

T1 - Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems

AU - Hasan, Agus Ismail

AU - Tofterup, Vincent Klyverts

AU - Jensen, Kjeld

N1 - Conference code: 229

PY - 2019/8/15

Y1 - 2019/8/15

N2 - 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.

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.

U2 - 10.1109/ICUAS.2019.8798308

DO - 10.1109/ICUAS.2019.8798308

M3 - Article in proceedings

SN - 978-1-7281-0334-1

SP - 406

EP - 412

BT - Proceedings of the International Conference on Unmanned Aircraft Systems, ICUAS

PB - IEEE

T2 - 2019 International Conference on Unmanned Aircraft Systems

Y2 - 11 June 2019 through 14 June 2019

ER -

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

Abstract

Conference

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Related projects

Healthcare cargo and person transportation drones

FreeD: Free the Drones

Cite this