Reconfigurable Fault-tolerant NMPC for Y6 Coaxial Tricopter with Complete Loss of One Rotor

TY - GEN

T1 - Reconfigurable Fault-tolerant NMPC for Y6 Coaxial Tricopter with Complete Loss of One Rotor

AU - Mehndiratta, Mohit

AU - Kayacan, Erdal

PY - 2018/10/26

Y1 - 2018/10/26

N2 - Safe and reliable operation of unmanned aerial vehicles (UAVs) is a high priority as most of the UAVs must be operated in humanly populated environments. In this study, we exhibit a nonlinear model predictive control (NMPC) approach, as an active fault-tolerant control method, for a Y6 coaxial tricopter UAV in the presence of an actuator fault respecting the actuator constraints. A cascaded closed-loop control methodology, incorporating a reconfigurable low-level controller, is proposed which eradicates the need to design multiple controllers for normal and faulty operations. The efficacy of the presented methodology is illustrated for tracking an 8-shaped trajectory with a complete loss of one rotor. From the sequential failure cases of two different rotors, it is shown that even with a fault-detection delay of 0.5s, the maximum altitude divergence is 0.41m that smoothly diminishes over the span of few seconds. In addition to the adequate tracking performance, thanks to ACADO toolkit, a combined average execution time of 2.1 milliseconds is achieved which is promising for its real-time applicability for fast aerospace applications.

AB - Safe and reliable operation of unmanned aerial vehicles (UAVs) is a high priority as most of the UAVs must be operated in humanly populated environments. In this study, we exhibit a nonlinear model predictive control (NMPC) approach, as an active fault-tolerant control method, for a Y6 coaxial tricopter UAV in the presence of an actuator fault respecting the actuator constraints. A cascaded closed-loop control methodology, incorporating a reconfigurable low-level controller, is proposed which eradicates the need to design multiple controllers for normal and faulty operations. The efficacy of the presented methodology is illustrated for tracking an 8-shaped trajectory with a complete loss of one rotor. From the sequential failure cases of two different rotors, it is shown that even with a fault-detection delay of 0.5s, the maximum altitude divergence is 0.41m that smoothly diminishes over the span of few seconds. In addition to the adequate tracking performance, thanks to ACADO toolkit, a combined average execution time of 2.1 milliseconds is achieved which is promising for its real-time applicability for fast aerospace applications.

UR - http://www.scopus.com/inward/record.url?scp=85056904952&partnerID=8YFLogxK

U2 - 10.1109/CCTA.2018.8511444

DO - 10.1109/CCTA.2018.8511444

M3 - Article in proceedings

SN - 978-1-5386-7699-8

SP - 774

EP - 780

BT - 2018 IEEE Conference on Control Technology and Applications, CCTA 2018

PB - IEEE

T2 - 2018 IEEE Conference on Control Technology and Applications

Y2 - 21 August 2018 through 24 August 2018

ER -