| ← Back to list of papers of the 2019 EuroGNC conference |
CEAS EuroGNC 2019 |
||||||
Over-Actuation Analysis and Fault-Tolerant Control of a Hybrid Unmanned Aerial Vehicle |
||||||
|
||||||
| Abstract: Several reports like e.g. the European Drones Outlook Study predict that the number of unmanned aerial systems for commercial use will grow significantly within the next years. By further advancing in the direction of autonomous drone operation, it is most important to guarantee operational safety. Therefore, sophisticated methods of fault-tolerant control (FTC) have to be developed and tested. This paper presents a novel concept for determining the degree of a system's inherent over-actuation and how this information can be utilized for optimization-based control allocation in different modes of operation to achieve fault-tolerance. The paper describes the modeling and FTC of a dual system hybrid UAV, which is inherently over-acutated when in addition to the aerodynamic surfaces four lift rotors are used to control the aircraft during long range fixed-wing flight mode. | ||||||
| Keywords: Aircraft fault-tolerance and recovery; MAV flight dynamics and control; Optimization | ||||||
 View PDF CEAS-GNC-2019-064 |
| Karl Frederik Prochazka, Tobias Ritz, Hugo Eduardo: Over-Actuation Analysis and Fault-Tolerant Control of a Hybrid Unmanned Aerial Vehicle. Proceedings of the 2019 CEAS EuroGNC conference. Milan, Italy. April 2019. CEAS-GNC-2019-064. |
| BibTeX entry: @Incollection{CEAS-GNC-2019-064, authors = {Prochazka, Karl Frederik and Ritz, Tobias and Eduardo, Hugo}, title = {Over-Actuation Analysis and Fault-Tolerant Control of a Hybrid Unmanned Aerial Vehicle}, booktitle = {Proceedings of the 2019 {CEAS EuroGNC} conference}, address = {Milan, Italy}, month = apr, year = {2019}, note = {CEAS-GNC-2019-064} } |