Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor

Highly maneuverable, over-actuated aerial robots have gained increasing interest in various inspection applications. However, since these systems carry expensive equipment and must operate in the vicinity of humans, their fail-safe operation is paramount. In this study, we propose a centralized nonl...

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Main Authors: Mehndiratta, Mohit, Singh, Karanjot, Kayacan, Erdal, Feroskhan, Mir
Other Authors: School of Mechanical and Aerospace Engineering
Format: Conference or Workshop Item
Language:English
Published: 2022
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Online Access:https://hdl.handle.net/10356/154766
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1547662023-03-04T17:07:40Z Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor Mehndiratta, Mohit Singh, Karanjot Kayacan, Erdal Feroskhan, Mir School of Mechanical and Aerospace Engineering 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) Engineering::Aeronautical engineering Engineering::Mechanical engineering Fault Tolerant Control Nonlinear Control Systems Unmanned Aerial Vehicles Highly maneuverable, over-actuated aerial robots have gained increasing interest in various inspection applications. However, since these systems carry expensive equipment and must operate in the vicinity of humans, their fail-safe operation is paramount. In this study, we propose a centralized nonlinear model predictive control (NMPC) method to facilitate fault-tolerant control (FTC) of an over-actuated quadrotor against a propeller failure. Thanks to the novel mechanical design, the hyperdynamic quadrotor can independently command and control all 6-degrees-of-freedom (DoFs). Additionally, the underlying reconfigurability feature of the designed NMPC makes it appropriate for normal as well as faulty operations. Moreover, the centralized nature of the control framework fully exploits the actuator redundancy, thereby ensuring complete system control without losing any DoF. The efficacy of the proposed FTC framework is elaborated throughout intensive simulations utilizing a high-fidelity model over two different trajectories. From the sequential failure cases, it is shown that – even with fault detection delay up to 1s – the aerial robot satisfactorily tracks the reference trajectory. Ministry of Education (MOE) Accepted version This research is supported by the Ministry of Education, Singapore, under its Academic Research Fund Tier 1 (RG69/20). 2022-01-10T02:24:06Z 2022-01-10T02:24:06Z 2021 Conference Paper Mehndiratta, M., Singh, K., Kayacan, E. & Feroskhan, M. (2021). Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor. 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE), 853-859. https://dx.doi.org/10.1109/CASE49439.2021.9551527 2161-8089 https://hdl.handle.net/10356/154766 10.1109/CASE49439.2021.9551527 853 859 en RG69/20 © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/CASE49439.2021.9551527. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Aeronautical engineering
Engineering::Mechanical engineering
Fault Tolerant Control
Nonlinear Control Systems
Unmanned Aerial Vehicles
spellingShingle Engineering::Aeronautical engineering
Engineering::Mechanical engineering
Fault Tolerant Control
Nonlinear Control Systems
Unmanned Aerial Vehicles
Mehndiratta, Mohit
Singh, Karanjot
Kayacan, Erdal
Feroskhan, Mir
Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
description Highly maneuverable, over-actuated aerial robots have gained increasing interest in various inspection applications. However, since these systems carry expensive equipment and must operate in the vicinity of humans, their fail-safe operation is paramount. In this study, we propose a centralized nonlinear model predictive control (NMPC) method to facilitate fault-tolerant control (FTC) of an over-actuated quadrotor against a propeller failure. Thanks to the novel mechanical design, the hyperdynamic quadrotor can independently command and control all 6-degrees-of-freedom (DoFs). Additionally, the underlying reconfigurability feature of the designed NMPC makes it appropriate for normal as well as faulty operations. Moreover, the centralized nature of the control framework fully exploits the actuator redundancy, thereby ensuring complete system control without losing any DoF. The efficacy of the proposed FTC framework is elaborated throughout intensive simulations utilizing a high-fidelity model over two different trajectories. From the sequential failure cases, it is shown that – even with fault detection delay up to 1s – the aerial robot satisfactorily tracks the reference trajectory.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Mehndiratta, Mohit
Singh, Karanjot
Kayacan, Erdal
Feroskhan, Mir
format Conference or Workshop Item
author Mehndiratta, Mohit
Singh, Karanjot
Kayacan, Erdal
Feroskhan, Mir
author_sort Mehndiratta, Mohit
title Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
title_short Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
title_full Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
title_fullStr Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
title_full_unstemmed Receding horizon-based fault-tolerant control of QuadPlus : an over-actuated quadrotor
title_sort receding horizon-based fault-tolerant control of quadplus : an over-actuated quadrotor
publishDate 2022
url https://hdl.handle.net/10356/154766
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