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Document type:
Konferenzbeitrag 
Author(s):
Falconí, Guillermo P.; Schatz, Simon P.; Holzapfel, Florian 
Title:
Fault Tolerant Control of a Hexarotor using a Command Governor Augmentation 
Abstract:
The application of Nonlinear Dynamic Inversion on agile multicopter systems is beneficial to cope with significant dynamical couplings of the axes. However, modeling errors impose drawbacks to the control concept as the inversion relies on an exact knowledge about the model for best performance. In order to improve the performance of the controller when subject to exogenous disturbances and modeling errors, a command governor augmentation is proposed in this paper. Basically, by utilizing an est...    »
 
Book / Congress title:
24th Mediterranean Conference on Control and Automation (MED) 
Year:
2016 
Pages:
182--187 
Covered by:
Scopus 
Fulltext / DOI: