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Document type:
Zeitschriftenaufsatz 
Author(s):
Falconí, Guillermo P.; Angelov, Jorg; Holzapfel, Florian 
Title:
ADAPTIVE FAULT-TOLERANT POSITION CONTROL OF A HEXACOPTER SUBJECT TO AN UNKNOWN MOTOR FAILURE 
Abstract:
This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loops. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in case o...    »
 
Journal title:
International Journal of applied mathematics and computer science 
Year:
2018 
Journal volume:
28 
Covered by:
Scopus; Web of Science 
Fulltext / DOI: