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 proceedingArticle in proceedingsResearchpeer-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 languageEnglish
Title of host publicationProceedings of the International Conference on Unmanned Aircraft Systems, ICUAS
PublisherIEEE
Publication date15. Aug 2019
Pages406-412
ISBN (Print)978-1-7281-0334-1
ISBN (Electronic)978-1-7281-0333-4, 978-1-7281-0332-7
DOIs
Publication statusPublished - 15. Aug 2019
Event2019 International Conference on Unmanned Aircraft Systems - Atlanta Marriott Buckhead Hotel & Conference Center, Atlanta, United States
Duration: 11. Jun 201914. Jun 2019
Conference number: 229
http://www.uasconferences.com/

Conference

Conference2019 International Conference on Unmanned Aircraft Systems
Number229
LocationAtlanta Marriott Buckhead Hotel & Conference Center
CountryUnited States
CityAtlanta
Period11/06/201914/06/2019
Internet address

Fingerprint

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

Cite this

Hasan, A. I., Tofterup, V. K., & 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 (pp. 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. pp. 406-412
@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 = "8",
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",

}

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, 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 proceedingArticle in proceedingsResearchpeer-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

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

ER -

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