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Recoverable set computation for post-fault/failure quadrotors based on sum of squares (SOS)
Qi X(齐欣); Theilliol, Didier; He YQ(何玉庆); Han JD(韩建达)
Department机器人学研究室
Conference Name3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016
Conference DateSeptember 7-9, 2016
Conference PlaceBarcelona, Spain
Author of SourceEuropean Union; Ministerio de Economia y Competitividad; Research Center for Sypervision, Safety and Automatic Control (CS2AC); Universitat Politecnica de Catalunya (UPC)
Source Publication2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2016
Pages73-78
Indexed ByEI ; CPCI(ISTP)
EI Accession number20165003112525
WOS IDWOS:000391868600012
Contribution Rank1
ISSN2162-1195
ISBN978-1-5090-0658-8
AbstractIn this paper, an evaluation approach of recoverable performance for post-fault quadrotors is investigated. Both propeller faults and failures are considered, such as loss of partial propeller effectiveness and loss of one or more propellers. The main contribution is to propose a method to compute recoverable set for different faulty conditions using sum of squares (SOS). The recoverable set is an invariant set and it is the set of initial states, which can be driven to the equilibrium point while respecting propeller faults, failures and rotating speed limits. Before computing the set, feasible equilibrium points are calculated to guarantee relaxed hover solutions against different faulty cases. Simulations illustrate the effectiveness of proposed approach with nonlinear quadrotor dynamics under various fault and failure conditions.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19540
Collection机器人学研究室
Corresponding AuthorQi X(齐欣)
Affiliation1.State Key Laboratory of Robotics Shenyang Institute of Automation(SIA), Chinese Academy of Sciences(CAS), Shenyang, Liaoning Province, 110016, China
2.University of Chinese Academy of Sciences, Beijing, China
3.CRAN UMR 7039, CNRS, University of Lorraine, Faculte des Sciences et Techniques, B.P. 70239, Vandoeuvre-Les-Nancy, 54506, France
Recommended Citation
GB/T 7714
Qi X,Theilliol, Didier,He YQ,et al. Recoverable set computation for post-fault/failure quadrotors based on sum of squares (SOS)[C]//European Union; Ministerio de Economia y Competitividad; Research Center for Sypervision, Safety and Automatic Control (CS2AC); Universitat Politecnica de Catalunya (UPC). Washington, DC:IEEE Computer Society,2016:73-78.
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