Fault tolerant control for a hexarotor system using Incremental Backstepping

In this paper, the design of an Incremental Backstepping 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.

[1]  Florian Holzapfel,et al.  Hexacopter outdoor flight test results using adaptive control allocation subject to an unknown complete loss of one propeller , 2016, 2016 3rd Conference on Control and Fault-Tolerant Systems (SysTol).

[2]  Kevin A. Wise,et al.  Robust and Adaptive Control: With Aerospace Applications , 2012 .

[3]  Erik-Jan van Kampen,et al.  Time Delayed Incremental Nonlinear Control , 2013 .

[4]  Florian Holzapfel,et al.  Adaptive fault tolerant control allocation for a hexacopter system , 2016, 2016 American Control Conference (ACC).

[5]  B. PaulAcquatella,et al.  Incremental backstepping for robust nonlinear flight control , 2013 .

[6]  Naira Hovakimyan,et al.  L1 Adaptive Control Theory - Guaranteed Robustness with Fast Adaptation , 2010, Advances in design and control.

[7]  Guido C. H. E. de Croon,et al.  Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles , 2016 .

[8]  Pedro Simplício,et al.  An acceleration measurements-based approach for helicopter nonlinear flight control using Incremental Nonlinear Dynamic Inversion , 2013 .

[9]  S. Bhat,et al.  A topological obstruction to continuous global stabilization of rotational motion and the unwinding phenomenon , 2000 .

[10]  P. Olver.  Nonlinear Systems , 2013 .

[11]  Stephan Sand,et al.  Swarm exploration and navigation on mars , 2013, 2013 International Conference on Localization and GNSS (ICL-GNSS).

[12]  B.P.J. Acquatella,et al.  Robust Nonlinear Spacecraft Attitude Control: An Incremental Backstepping Approach , 2011 .

[13]  Massimiliano Mattei,et al.  Modeling and Incremental Nonlinear Dynamic Inversion Control of a Novel Unmanned Tiltrotor , 2016 .

[14]  Florian Holzapfel,et al.  Fault tolerant control of a hexarotor using a command governor augmentation , 2016, 2016 24th Mediterranean Conference on Control and Automation (MED).

[15]  W. Marsden.  I and J , 2012 .

[16]  Florian Holzapfel,et al.  Fault-tolerant position tracking of a hexacopter using an Extended State Observer , 2015, 2015 6th International Conference on Automation, Robotics and Applications (ICARA).

[17]  Peter Kuster,et al.  Nonlinear And Adaptive Control Design , 2016 .

[18]  Michael Achtelik,et al.  Design of a Multi Rotor MAV with regard to Efficiency, Dynamics and Redundancy , 2012 .

[19]  Florian Holzapfel,et al.  Position Tracking of a Multicopter using a Geometric Backstepping Control Law , 2013 .

[20]  Petros A. Ioannou,et al.  Robust Adaptive Control , 2012 .

[21]  M. Grassi,et al.  AIAA Guidance, Navigation, and Control Conference , 2008 .

[22]  Florian Holzapfel,et al.  Hexacopter outdoor flight test results of an Extended State Observer based controller , 2014, 2014 IEEE International Conference on Aerospace Electronics and Remote Sensing Technology.

[23]  Alexandra Moutinho,et al.  Lateral Control of Airship with Uncertain Dynamics using Incremental Nonlinear Dynamics Inversion , 2015, SyRoCo.

[24]  Erik-Jan van Kampen,et al.  Robust Nonlinear Spacecraft Attitude Control using Incremental Nonlinear Dynamic Inversion. , 2012 .

[25]  Florian Holzapfel,et al.  Modified Extended State Observer Control of Linear Systems , 2016 .

[26]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[27]  N. McClamroch,et al.  Rigid-Body Attitude Control , 2011, IEEE Control Systems.

[28]  Jan Albert Mulder,et al.  Robust Flight Control Using Incremental Nonlinear Dynamic Inversion and Angular Acceleration Prediction , 2010 .

[29]  Aaron J. Ostroff,et al.  RECONFIGURABLE FLIGHT CONTROL USING NONLINEAR DYNAMIC INVERSION WITH A SPECIAL ACCELEROMETER IMPLEMENTATION , 2000 .