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Adaptive Fault Tolerant Control for VTOL Aircraft with Actuator Redundancy

Guillermo Paúl Falconí Salazar (Autor)

Buch | Softcover

242 Seiten

2022
TUM.University Press (Verlag)
978-3-95884-074-4 (ISBN)

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In the aerospace industry, safety and reliability drive the need to maintain controlled flight in the event of a single actuator failure. For VTOL systems with automatic flight functions and a high coupling between actuator forces and control axes, digital flight control is key to enhancing fault tolerance. This thesis presents an adaptive fault tolerant controller for VTOL multicopters that considers actuator redundancy and limits and implements a strategy for degraded control authority. The solution combines predictor-based adaptive control allocation (P-ACA), prioritizing control allocation (PRIO CA) and parameter reduction due to overactuation (PRO). Flight tests with representative failure cases and high-speed scenarios are presented. A single unified controller handles the nominal and faulty cases.

Erscheinungsdatum	11.02.2022
Verlagsort	München
Sprache	englisch
Maße	148 x 210 mm
Themenwelt	Technik ► Luft- / Raumfahrttechnik
Schlagworte	Actuators • Adaptive Control • attitude control • autonomous aerial vehicles • Fakultät für Luftfahrt, Raumfahrt und Geodäsie • fault tolerance • Fault tolerant control • flight testing • Geometric Control • Hexacopter • hexarotor • Institute of Flight System Dynamics • Lehrstuhl für Flugsystemdynamik • MRAC • overactuation • Parameter Estimation • redundant inputs • Technical University of Munich • Technische Universität München • tum • TUM Department of Aerospace and Geodesy • TU München • TU Munich • VTOL
ISBN-10	3-95884-074-4 / 3958840744
ISBN-13	978-3-95884-074-4 / 9783958840744
Zustand	Neuware