Основні поняття
提案された適応制御スキームは、マルチローターのプロペラ損傷を検出し補償する能力を持ち、安全で堅牢な飛行性能を確保します。
Анотація
I. Introduction
MAVs like quadrotors are crucial but prone to accidents, necessitating damage inference and control approaches.
Propellers are vulnerable to damage, especially due to collisions or wear, posing challenges in detection.
II. Related Works
Research covers fault estimation methods for various vehicles, including quadrotors.
Methods for propeller damage estimation include empirical and state estimation approaches.
III. Methodology
A. Preliminaries
Coordinate frames used to represent system dynamics.
B. Control Design
Geometric controller adapted for propeller damage scenarios.
C. Adaptive Control
L1 adaptive controller integrated into the control scheme for disturbance compensation.
D. Propeller Damage Estimation
Formulation of an optimization problem to estimate propeller damage based on thrust coefficients.
E. Fault-Tolerant Transition
Transition mechanism from adaptive to fault-tolerant control based on estimated propeller damage levels.
IV. Results
Evaluation of tracking performance with different levels of propeller damage using L1 adaptive control.
V. Discussion
Limitations in considering single or dual propeller damages only, with a conservative approach in detecting damage thresholds.
Статистика
L1アダプティブ制御技術による飛行中のプロペラ損傷補償が可能です。
提案された方法は、低から重度の損傷まで効果的に対処できます。