Analysis of a uniform passive fault-tolerant control method for multicopters

doi:10.23919/JSEE.2024.000127

Journal of Systems Engineering and Electronics ›› 2024, Vol. 35 ›› Issue (6): 1574-1582.doi: 10.23919/JSEE.2024.000127

• CONTROL THEORY AND APPLICATION • Previous Articles

Analysis of a uniform passive fault-tolerant control method for multicopters

Chenxu KE(), Kaiyuan CAI(), Quan QUAN()

School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received:2023-08-11 Accepted:2023-12-13 Online:2024-12-18 Published:2025-01-14
Contact: Quan QUAN E-mail:kechenxu@buaa.edu.cn;kycai@buaa.edu.cn;qq_buaa@buaa.edu.cn
About author:
KE Chenxu was born in 1993. He received his B.S. degree in control science and engineering from Shenyang Ligong University, Shenyang, China, in 2016. Since 2017, he has been working toward his Ph.D. degree in control science and engineering with the School of Automation Science and Electrical Engineering, Beihang University, Beijing, China. His research interests include reliable flight control, fault-tolerant control, and hardware-in-the-loop simulation. E-mail: kechenxu@buaa.edu.cn

CAI Kaiyuan was born in 1965. He received his B.S., M.S., and Ph.D. degrees in control science and engineering from Beihang University, Beijing, China, in 1984, 1987, and 1991, respectively. He has been a full professor with Beihang University since 1995. He is currently a Cheung Kong Scholar (Chair Professor), appointed by the Ministry of Education, China, in 1999. His main research interests include software testing, software reliability, reliable flight control, autonomous, dependable and affordable (ADA) control, software cybernetics, and ADA world with the confluence of sciences, engineering and arts (ADA-SEA). E-mail: kycai@buaa.edu.cn

QUAN Quan was born in 1981. He received his B.S. and Ph.D. degrees in control science and engineering from Beihang University, Beijing, China, in 2004, and 2010, respectively. Since 2022, he has been a professor with Beihang University in control science and engineering, where he is currently with the School of Automation Science and Electrical Engineering. His research interests include reliable flight control, swarm intelligence, vision based navigation and health assessment. E-mail: qq_buaa@buaa.edu.cn
Supported by:
This work was supported by the National Natural Science Foundation of China (61973015).

Abstract

Abstract:

For the multicopter with more than four rotors, the rotor fault information is unobservable, which limits the application of active fault-tolerant on multicopters. This paper applies an existing fault-tolerant control method for quadcopter to multicopter with more than four rotors. Without relying on rotor fault information, this method is able to stabilize the multicopter with multiple rotor failures, which is validated on the hexacopter and octocopter using the hardware-in-the-loop simulations. Additionally, the hardware-in-the-loop simulations demonstrate that a more significant tilt angle in flight will inhibit the maximum tolerable number of rotor failures of a multicopter. The more significant aerodynamic drag moment will make it difficult for the multicopter to regain altitude control after rotor failure.

Key words: autonomous, dependable, affordable control, fault-tolerant control, multicopter, nonlinear system, unmanned aerial vehicles

Chenxu KE, Kaiyuan CAI, Quan QUAN. Analysis of a uniform passive fault-tolerant control method for multicopters[J]. Journal of Systems Engineering and Electronics, 2024, 35(6): 1574-1582.

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Parameter	Value	Parameter	Value
${k_{{\text{rotor}},z}}$	0.1	${k_{{\text{rotor}}}}$	1.3
${w_{{\tau _p}}}$	20	${w_{{\tau _q}}}$	20
${w_f}$	1	${w_{{\tau _r}}}$	0.01
${w_{{{T}}}}$	0.0001	$ \epsilon $	0.06

Parameter	Value
$m/{{\text{kg}}} $	3.0
${\tau _{{m}}}/{\text{s}}$	0.02
${T_{\max }}/{\text{N}}$	23.5
${d_{1\sim 6}}/{\text{m}}$	0.366
${\boldsymbol{J}}/\left( {{\text{kg}} \cdot {{\text{m}}^2}} \right)$	${\text{diag}}(0.174\;1,0.167\;6,0.303\;4)$
${{\boldsymbol{c}}_{\text{m}}}$	${\text{diag}}(0.001,0.001,0.0002)$
${\delta _{1\sim 6}}$	$\left[ { - 1,\;1,\; - 1,\;1,\;1,\; - 1} \right]$
$c $	0.01924
${\psi _{1\sim 6}}/{\mathrm{rad}}$	$\left[ {\dfrac{\text{π} }{2},\;\dfrac{{3\text{π} }}{2},\;\dfrac{{11\text{π} }}{6},\;\dfrac{{5\text{π} }}{6},\;\dfrac{\text{π} }{6},\;\dfrac{{7\text{π} }}{6}} \right]$

Parameter	Value
$m/{{\text{kg}}}$	4.0
${\tau _{{m}}}/{\text{s}}$	0.02
${T_{\max }}/ {\text{N}}$	23.5
${d_{1\sim 6}}/ {\text{m}} $	0.45
${\boldsymbol{J}}/\left( {{\text{kg}} \cdot {{\text{m}}^2}} \right)$	${\text{diag}}(0.23,0.23,0.4050)$
${{\boldsymbol{c}}_{\text{m}}}$	${\text{diag}}(0.001,0.001,0.0002)$
${\delta _{1\sim 6}}$	$\left[ {1,\;1,\; - 1, - \;1, - 1,\; - 1,1,1} \right]$
$c $	0.01924
${\psi _{1\sim 6}}/{\mathrm{rad}}$	$\left[ {\dfrac{\text{π} }{8},\;\dfrac{{9\text{π} }}{8},\;\dfrac{{3\text{π} }}{8},\;\dfrac{{7\text{π} }}{8},\;\dfrac{{15\text{π} }}{8},\;\dfrac{{11\text{π} }}{8},\dfrac{{13\text{π} }}{8},\dfrac{{5\text{π} }}{8}} \right]$

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Analysis of a uniform passive fault-tolerant control method for multicopters

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