On the fault tolerant control of a quadrotor manipulation system via MPC and DOb approaches

Ahmed Khalifa, Mohamed Fanni, Toru Namerikawa

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

Recently, the Aerial Manipulation System becomes very attractive for a wide range of applications due to its unique features. However, control of such system is quite challenging. One of the critical challenge is that this system is very susceptible to actuators' faults. In this paper, a Passive Fault Tolerant Control System is proposed to address this issue with robust and optimal performance. The robustness is achieved using a linear Disturbance Observer (DOb) loop. Based on the linearization capability of DOb, a standard Model Predictive Control (MPC) is then used and the resulting control scheme is characterized by both a low computational load and optimal actuators' efforts with respect to conventional nonlinear robust solutions. This controller is tested to achieve the tracking of a point-to-point task space references under the effect of actuators' faults, picking/releasing a payload, changing the operating region, and measurement noise. Efficacy of the proposed technique is verified via numerical simulations.

本文言語English
ホスト出版物のタイトル2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
出版社Institute of Electrical and Electronics Engineers Inc.
ページ700-705
ページ数6
ISBN(電子版)9784907764500
DOI
出版ステータスPublished - 2016 11月 18
イベント55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016 - Tsukuba, Japan
継続期間: 2016 9月 202016 9月 23

Other

Other55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
国/地域Japan
CityTsukuba
Period16/9/2016/9/23

ASJC Scopus subject areas

  • 制御と最適化
  • 器械工学
  • 制御およびシステム工学

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