Fault-tolerant Control Allocation for Multirotor Helicopters Using Parametric Programming

Abstract : This paper addresses the issue of flight safety and reliability of unmanned multirotor helicopters. New applications involve the use of such flying platforms to perform inspection of industrial facilities, bridges, dam walls, etc. In this context, the multirotor helicopter is teleoperated by a distant human user. 1 The capability of fault-tolerance against rotor or motor is a major asset to guarantee the success of the mission and the safety of the surrounding environment. This paper contributes to fault-tolerant flight of multirotor helicopter with the following four points. First, given the configuration of the multirotor vehicle, this paper shows how to calculate the maximum torques that can be produced on each vehicle axis. Second, a method to investigate the static controllability of the vehicle in any arbitrary fault configuration is described. Third, a control allocator for multirotor systems is developed with performance going beyond performance obtained with classical methods, such as the pseudo-inverse method. The proposed control allocator is indeed capable of exploiting the whole attainable control set. Fourth, this control allocator is fault-tolerant, as it can efficiently cope with the loss of one or more actuators. The control allocation problem is formulated as a parametric program and solved for an explicit solution, which is stored in lookup tables. Therefore, the control allocator requires very low computational power and immediately provides an optimal solution to the torque commands issued by the flight controller. The performance of the control allocator is evaluated on a real six-rotor helicopter. Finally, based on the real experiments, the paper investigates 1) the impact of faults and 2) the influence of the reconfiguration delay on the flight stability. These experiments show that this control allocation strategy successfully increases flight performance and maintains stability of the vehicle in case of actuator(s) total failure.
Type de document :
Communication dans un congrès
International Micro Air Vehicle Conference and Flight Competition (IMAV), Jul 2012, Braunschweig, Germany. Proceedings of International Micro Air Vehicle Conference and Flight Competition (IMAV)
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https://hal.archives-ouvertes.fr/hal-01302202
Contributeur : Guillaume Ducard <>
Soumis le : mercredi 13 avril 2016 - 16:56:50
Dernière modification le : jeudi 14 avril 2016 - 01:05:55

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  • HAL Id : hal-01302202, version 1

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Thomas Schneider, Guillaume Ducard, Rudin Konrad, Strupler Pascal. Fault-tolerant Control Allocation for Multirotor Helicopters Using Parametric Programming. International Micro Air Vehicle Conference and Flight Competition (IMAV), Jul 2012, Braunschweig, Germany. Proceedings of International Micro Air Vehicle Conference and Flight Competition (IMAV). <hal-01302202>

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