تقرير
Fail-Safe Controller Architectures for Quadcopter with Motor Failures
| العنوان: | Fail-Safe Controller Architectures for Quadcopter with Motor Failures |
|---|---|
| المؤلفون: | Rible, Gene Patrick S., Arriola, Nicolette Ann A., Ramos, Jr, Manuel C. |
| المصدر: | "Fail-Safe Controller Architectures for Quadcopter with Motor Failures," 2020 6th International Conference on Control, Automation and Robotics (ICCAR), Singapore, Singapore, 2020, pp. 384-391 |
| سنة النشر: | 2020 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control, I.2.9 |
| الوصف: | A fail-safe algorithm in case of motor failure was developed, simulated, and tested. For practical fail-safe flight, the quadcopter may fly with only three or two opposing propellers. Altitude for two-propeller architecture was maintained by a PID controller that is independent from the inner and outer controllers. A PID controller on propeller force deviations from equilibrium was augmented to the inner controller of the three-propeller architecture. Both architectures used LQR for the inner attitude controller and a damped second order outer controller that zeroes the error along the horizontal coordinates. The restrictiveness, stability, robustness, and symmetry of these architectures were investigated with respect to their output limits, initial conditions, and controller frequencies. Although the three-propeller architecture allows for distribution of propeller forces, the two-propeller architecture is more efficient, robust, and stable. The two-propeller architecture is also robust to model uncertainties. It was shown that higher yaw rate leads to greater stability when operating in fail-safe mode. Comment: 7 pages, 9 figures, published in the 2020 6th International Conference on Control, Automation and Robotics (ICCAR) Proceedings |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1109/ICCAR49639.2020.9108038 |
| URL الوصول: | http://arxiv.org/abs/2009.10260 |
| رقم الأكسشن: | edsarx.2009.10260 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1109/ICCAR49639.2020.9108038 |
|---|