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Title:

Adaptive Fault Tolerant Control Allocation for a Hexacopter System

Document type:
Konferenzbeitrag
Author(s):
Falconí, Guillermo P.; Holzapfel, Florian
Abstract:
In this paper an adaptive fault tolerant control allocation for a linear static actuator model is presented. The method proposed here has the advantage of not relying on the exact knowledge of the fault and of avoiding the use of online optimization routines. This is done using adaptive control techniques and by reformulating the problem of the control allocation with unknown control effectiveness. Furthermore, the usual assumption of positive definiteness of the control effectiveness matrix is...     »
Book / Congress title:
American Control Conference
Year:
2016
Pages:
6760--6766
Covered by:
Scopus
Fulltext / DOI:
doi:10.1109/ACC.2016.7526736
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