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Document type:
Konferenzbeitrag 
Author(s):
Goßmann, Felix; Falconí, Guillermo P.; Svaricek, Ferdinand 
Title:
Fault tolerant incremental attitude control using online parameter estimation for a multicopter system 
Abstract:
This paper addresses the design of a fault tolerant controller to handle actuator degradation passively in context of attitude control on a hexacopter system. The design is accomplished with the use of the framework for linear parameter-varying (LPV) systems. Based on a nonlinear model of a hexacopter a quasi-LPV model is obtained. The parameter vector of the LPV system is supplemented by an additional parameter to consider the actuator degradation. An LPV state feedback controller design is acc...    »
 
Book / Congress title:
25th Mediterranean Conference on Control and Automation (MED) 
Year:
2017 
Pages:
467--472 
Covered by:
Scopus; Web of Science 
Fulltext / DOI: