A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle

Keigo Watanabe; Taisei Endo; Xiongshi Xu; Shilin Yi; Isaku Nagai

doi:10.1109/ICMA54519.2022.9855924

A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle

Keigo Watanabe, Taisei Endo, Xiongshi Xu, Shilin Yi, Isaku Nagai

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this study, an airframe structure is proposed to be able to effectively utilize all remaining normal rotors even in the case of a single rotor failure by making the rotor arrangement angle of a hexacopter variable. Furthermore, position and attitude control is achieved by setting the control allocation problem under failure as a nonlinear optimization problem, while satisfying the rotor constraints such as a maximum thrust, etc. The effectiveness of the present method is demonstrated by using comparative numerical simulations with a normal hexacopter or a special structure possessing a tiltable rotor mechanism.

Original language	English
Title of host publication	2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1719-1726
Number of pages	8
ISBN (Electronic)	9781665408523
DOIs	https://doi.org/10.1109/ICMA54519.2022.9855924
Publication status	Published - 2022
Event	19th IEEE International Conference on Mechatronics and Automation, ICMA 2022 - Guilin, Guangxi, China Duration: Aug 7 2022 → Aug 10 2022

Publication series

Name	2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022

Conference

Conference	19th IEEE International Conference on Mechatronics and Automation, ICMA 2022
Country/Territory	China
City	Guilin, Guangxi
Period	8/7/22 → 8/10/22

Keywords

Fault-tolerant control
Hexacopter
Variable rotor-arrangement angle

ASJC Scopus subject areas

Artificial Intelligence
Electrical and Electronic Engineering
Mechanical Engineering
Control and Optimization

Access to Document

10.1109/ICMA54519.2022.9855924

Cite this

Watanabe, K., Endo, T., Xu, X., Yi, S., & Nagai, I. (2022). A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle. In 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022 (pp. 1719-1726). (2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA54519.2022.9855924

A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle. / Watanabe, Keigo; Endo, Taisei; Xu, Xiongshi et al.
2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 1719-1726 (2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Watanabe, K, Endo, T, Xu, X, Yi, S & Nagai, I 2022, A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle. in 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022. 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022, Institute of Electrical and Electronics Engineers Inc., pp. 1719-1726, 19th IEEE International Conference on Mechatronics and Automation, ICMA 2022, Guilin, Guangxi, China, 8/7/22. https://doi.org/10.1109/ICMA54519.2022.9855924

Watanabe K, Endo T, Xu X, Yi S, Nagai I. A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle. In 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 1719-1726. (2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022). doi: 10.1109/ICMA54519.2022.9855924

Watanabe, Keigo ; Endo, Taisei ; Xu, Xiongshi et al. / A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle. 2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 1719-1726 (2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022).

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abstract = "In this study, an airframe structure is proposed to be able to effectively utilize all remaining normal rotors even in the case of a single rotor failure by making the rotor arrangement angle of a hexacopter variable. Furthermore, position and attitude control is achieved by setting the control allocation problem under failure as a nonlinear optimization problem, while satisfying the rotor constraints such as a maximum thrust, etc. The effectiveness of the present method is demonstrated by using comparative numerical simulations with a normal hexacopter or a special structure possessing a tiltable rotor mechanism.",

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AB - In this study, an airframe structure is proposed to be able to effectively utilize all remaining normal rotors even in the case of a single rotor failure by making the rotor arrangement angle of a hexacopter variable. Furthermore, position and attitude control is achieved by setting the control allocation problem under failure as a nonlinear optimization problem, while satisfying the rotor constraints such as a maximum thrust, etc. The effectiveness of the present method is demonstrated by using comparative numerical simulations with a normal hexacopter or a special structure possessing a tiltable rotor mechanism.

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A Fault-Tolerant Control System for Hexacopters with a Changeable Structure in Rotor Arrangement Angle

Abstract

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Keywords

ASJC Scopus subject areas

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