Controllability analysis and motors failures symmetry in a coaxial octorotor

Author

Saied, Majd ; Shraim, Hassan ; Francis, Clovis ; Fantoni, Isabelle ; Lussier, Benjamin

Author_Institution

Centre de Rech. Sci. en Ing. (CRSI), Univ. Libanaise, Lebanon

fYear

2015

fDate

April 29 2015-May 1 2015

Firstpage

245

Lastpage

250

Abstract

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.

Keywords

aerospace control; autonomous aerial vehicles; controllability; fault tolerant control; mobile robots; nonlinear control systems; numerical analysis; observers; telerobotics; variable structure systems; UAV; attainable control set method; coaxial octorotor; controllability analysis; failing motors; fault tolerant control strategy; motors failures symmetry; nonlinear super twisting sliding mode observer; numerical simulations; octorotor simulator; unmanned aerial vehicles; Actuators; Controllability; Fault tolerance; Fault tolerant systems; Rotors; Torque; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Technological Advances in Electrical, Electronics and Computer Engineering (TAEECE), 2015 Third International Conference on

Conference_Location

Beirut

Print_ISBN

978-1-4799-5679-1

Type

conf

DOI

10.1109/TAEECE.2015.7113634

Filename

7113634