Nonlinear MPC with Motor Failure Identification and Recovery for Safe and Aggressive Multicopter Flight

02/16/2020
by   Dimos Tzoumanikas, et al.
0

Safe and precise reference tracking is a crucial characteristic of MAVs that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a NMPC that exploits the fully physics based non-linear dynamics of the system. We furthermore show how the moment and thrust control inputs can be transformed into feasible actuator commands. In order to guarantee safe operation despite potential loss of a motor under which we show our system keeps operating safely, we developed an EKF based motor failure identification algorithm. We verify the effectiveness of the developed pipeline in flight experiments with and without motor failures.

READ FULL TEXT
research
02/26/2020

Fail-safe Flight of a Fully-Actuated Quadcopter in a Single Motor Failure

In this paper, we introduce a new quadcopter fail-safe flight solution t...
research
09/22/2020

Fail-Safe Controller Architectures for Quadcopter with Motor Failures

A fail-safe algorithm in case of motor failure was developed, simulated,...
research
05/20/2019

Investigating Flight Envelope Variation Predictability of Impaired Aircraft using Least-Squares Regression Analysis

Aircraft failures alter the aircraft dynamics and cause maneuvering flig...
research
04/16/2023

Nonlinear MPC for Quadrotors in Close-Proximity Flight with Neural Network Downwash Prediction

Swarm aerial robots are required to maintain close proximity to successf...
research
06/12/2019

Identification of Motor Parameters on Coupled Joints

The estimation of the motor torque and friction parameters are crucial f...
research
03/13/2020

Data Set Description: Identifying the Physics Behind an Electric Motor – Data-Driven Learning of the Electrical Behavior (Part II)

A data set was recorded to evaluate different methods for extracting mat...
research
07/30/2019

Detecting Identification Failure in Moment Condition Models

This paper develops an approach to detect identification failures in a l...

Please sign up or login with your details

Forgot password? Click here to reset