Controllability analysis and motors failures symmetry in a coaxial octorotor
Résumé
— 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| Origine | Fichiers produits par l'(les) auteur(s) |
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