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Document type:
Konferenzbeitrag 
Author(s):
Falconi, Guillermo; Heise, Christian; Holzapfel, Florian 
Title:
Fault-Tolerant Position Tracking of a Hexacopter using an Extended State Observer 
Abstract:
Abstract---A position tracking controller for a hexacopter is presented which is robust against disturbances like modeling errors or propulsion efficiency degradation. The presented controller stands out because of its simple design which does not resort to reconfiguration and avoids the necessity of a Failure Detection and Isolation (FDI) filter. The baseline controller has a cascaded structure with two loops. The outer loop corresponds to the position and velocity control and is designed using...    »
 
Book / Congress title:
6th International Conference on Automation, Robotics and Applications (ICARA) 
Year:
2015 
Covered by:
Scopus; Web of Science