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Title:

Hexacopter Outdoor Flight Test Results Using Adaptive Control Allocation Subject to an Unknown Complete Loss of One Propeller

Document type:
Konferenzbeitrag
Author(s):
Falconí, Guillermo P.; Angelov, Jorg; Holzapfel, Florian
Abstract:
This paper presents hexacopter outdoor flight test results using an adaptive control allocation subject to an unknown complete loss of one propeller. The proposed approach is composed of two main elements: The adaptive estimation of the control effectiveness of the propellers and the optimization based control allocation. The adaptive estimation is based on concurrent learning and the optimization is gradient based. The adaptive control allocation is able to deal with faults or failures in the p...     »
Book / Congress title:
3rd Conference on Control and Fault-Tolerant Systems (SysTol)
Year:
2016
Pages:
367--374
Covered by:
Scopus; Web of Science
Reviewed:
ja
Fulltext / DOI:
doi:10.1109/SYSTOL.2016.7739779
 BibTeX