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Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor

Abstract : — This paper presents a fault tolerant approach for a coaxial octorotor regarding rotor failures. A complete architecture including error detection, fault isolation and system recovery is presented. The diagnosis system is designed with a nonlinear observer to generate residuals and an inference model to evaluate them and isolate the faulty motor. Once the motor failure is diagnosed, a recovery algorithm is applied. It uses the built-in hardware redundancy of the octorotor and compensates the loss of the failing motor by controlling its dual to keep a stable flight that allows the multirotor to continue its mission. This architecture is validated on real flights.
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Contributor : Majd Saied <>
Submitted on : Monday, July 27, 2015 - 11:36:35 AM
Last modification on : Thursday, February 7, 2019 - 3:32:36 PM
Document(s) archivé(s) le : Wednesday, October 28, 2015 - 10:42:47 AM


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Majd Saied, Benjamin Lussier, Isabelle Fantoni, Clovis Francis, Hassan Shraim, et al.. Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor. IEEE International Conference on Robotics and Automation (ICRA 2015), May 2015, Seattle, Washington, United States. pp.5266 - 5271, ⟨10.1109/ICRA.2015.7139933⟩. ⟨hal-01180492⟩



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