Fault diagnosis and fault-tolerant control strategy for rotor failure in an octorotor
作者： Majd Saied , Benjamin Lussier , Isabelle Fantoni , Clovis Francis , Hassan Shraim
DOI: 10.1109/ICRA.2015.7139933
关键词:
摘要: This paper presents a fault tolerant approach for coaxial octorotor regarding rotor failures. A complete architecture including error detection, isolation and system recovery is presented. The diagnosis designed with nonlinear observer to generate residuals an inference model evaluate them isolate the faulty motor. Once motor failure diagnosed, algorithm applied. It uses built-in hardware redundancy of compensates loss failing by controlling its dual keep stable flight that allows multirotor continue mission. validated on real flights.
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