Hexacopter fault tolerant actuator allocation analysis for optimal thrust

"Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The propose...

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Autores principales: Pose, Claudio D., Giribet, Juan I., Ghersin, Alejandro S.
Formato: Ponencias en Congresos acceptedVersion
Lenguaje:Inglés
Publicado: 2019
Materias:
MICRO VEHICULOS AEREOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
ACTUADORES
Acceso en línea:http://ri.itba.edu.ar/handle/123456789/1711
Aporte de:
Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA) de Instituto Tecnológico de Buenos Aires (ITBA)
id I32-R138-123456789-1711
record_format dspace
spelling I32-R138-123456789-17112022-12-07T14:13:46Z Hexacopter fault tolerant actuator allocation analysis for optimal thrust Pose, Claudio D. Giribet, Juan I. Ghersin, Alejandro S. MICRO VEHICULOS AEREOS TOLERANCIA A FALLOS SISTEMAS DE CONTROL ACTUADORES "Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The proposed strategy is optimal in the sense that minimizes the maximum force exerted by the rotors. A comparison with the commonly used strategy based upon the Moore-Penrose pseudoinverse is carried out. It is shown that, with the optimal strategy proposed here, maneuverability is improved, because the new method takes into account the actuators constraints. Although the optimal strategy is computationally more demanding than the classical method, the additional computational burden is not significant when both strategies are compared in a real application. To show this, both algorithms were programmed in an autopilot based on an ARM Cortex M3 microcontroller, and the experimental results are presented." 2019-08-14T20:14:04Z 2019-08-14T20:14:04Z 2017 Ponencias en Congresos info:eu-repo/semantics/acceptedVersion 978-1509-04-494-8 http://ri.itba.edu.ar/handle/123456789/1711 en info:eu-repo/semantics/altIdentifier/doi/10.1109/ICUAS.2017.7991321 info:eu-repo/grantAgreement/UNPA /PI29/C066/AR. Santa Cruz. Río Gallegos info:eu-repo/grantAgreement/ANPCyT/ PICT/2014-2055/AR. Ciudad Autónoma de Buenos Aires info:eu-repo/grantAgreement/ITBA/ITBACyT/28/AR. Ciudad Autónoma de Buenos Aires application/pdf
institution Instituto Tecnológico de Buenos Aires (ITBA)
institution_str I-32
repository_str R-138
collection Repositorio Institucional Instituto Tecnológico de Buenos Aires (ITBA)
language Inglés
topic MICRO VEHICULOS AEREOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
ACTUADORES
spellingShingle MICRO VEHICULOS AEREOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
ACTUADORES
Pose, Claudio D.
Giribet, Juan I.
Ghersin, Alejandro S.
Hexacopter fault tolerant actuator allocation analysis for optimal thrust
topic_facet MICRO VEHICULOS AEREOS
TOLERANCIA A FALLOS
SISTEMAS DE CONTROL
ACTUADORES
description "Recently, it was shown that an hexagon shaped hexarotor vehicle with tilted rotors, is capable of fault tolerant attitude and altitude control. In this work, we propose a strategy to select the signals commanded to each rotor in order to achieve a desired torque and vertical force. The proposed strategy is optimal in the sense that minimizes the maximum force exerted by the rotors. A comparison with the commonly used strategy based upon the Moore-Penrose pseudoinverse is carried out. It is shown that, with the optimal strategy proposed here, maneuverability is improved, because the new method takes into account the actuators constraints. Although the optimal strategy is computationally more demanding than the classical method, the additional computational burden is not significant when both strategies are compared in a real application. To show this, both algorithms were programmed in an autopilot based on an ARM Cortex M3 microcontroller, and the experimental results are presented."
format Ponencias en Congresos
acceptedVersion
author Pose, Claudio D.
Giribet, Juan I.
Ghersin, Alejandro S.
author_facet Pose, Claudio D.
Giribet, Juan I.
Ghersin, Alejandro S.
author_sort Pose, Claudio D.
title Hexacopter fault tolerant actuator allocation analysis for optimal thrust
title_short Hexacopter fault tolerant actuator allocation analysis for optimal thrust
title_full Hexacopter fault tolerant actuator allocation analysis for optimal thrust
title_fullStr Hexacopter fault tolerant actuator allocation analysis for optimal thrust
title_full_unstemmed Hexacopter fault tolerant actuator allocation analysis for optimal thrust
title_sort hexacopter fault tolerant actuator allocation analysis for optimal thrust
publishDate 2019
url http://ri.itba.edu.ar/handle/123456789/1711
work_keys_str_mv AT poseclaudiod hexacopterfaulttolerantactuatorallocationanalysisforoptimalthrust
AT giribetjuani hexacopterfaulttolerantactuatorallocationanalysisforoptimalthrust
AT ghersinalejandros hexacopterfaulttolerantactuatorallocationanalysisforoptimalthrust
_version_ 1765660814613676032

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