Controllability analysis and motors failures symmetry in a coaxial octorotor

Majd Saied (1, 2, 3) , Hassan Shraim (3) , Clovis Francis (3) , Isabelle Fantoni (1, 2) , Benjamin Lussier (1, 2)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]
2 Labex MS2T - Laboratoire d'Excellence "Maîtrise des Systèmes de Systèmes Technologiques"
3 UL - Université Libanaise

— This paper presents a fault tolerant control strategy for a coaxial octorotor regarding one motor failure. A controllability study, based on the construction of the attainable control set method, is presented for a coaxial octorotor with one or more failing motors. The fault is diagnosed using a non linear Super-Twisting sliding mode observer. The octorotor is recovered after a motor failure by controlling its dual motor. The effectiveness of this approach is illustrated by numerical simulations on an octorotor simulator.

Domaines: Automatique / Robotique

Majd Saied, Hassan Shraim, Clovis Francis, Isabelle Fantoni, Benjamin Lussier. Controllability analysis and motors failures symmetry in a coaxial octorotor. Third International Conference on Technological Advances in Electrical, Electronics and Computer Engineering (TAEECE 2015), Apr 2015, Beirut, Lebanon. pp.245-250, ⟨10.1109/TAEECE.2015.7113634⟩. ⟨hal-01215432⟩