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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)
作者部门机器人学研究室
会议名称3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016
会议日期September 7-9, 2016
会议地点Barcelona, Spain
会议主办者European Union; Ministerio de Economia y Competitividad; Research Center for Sypervision, Safety and Automatic Control (CS2AC); Universitat Politecnica de Catalunya (UPC)
会议录名称2016 3rd Conference on Control and Fault-Tolerant Systems, SysTol 2016 - Conference Proceedings
出版者IEEE Computer Society
出版地Washington, DC
2016
页码73-78
收录类别EI ; CPCI(ISTP)
EI收录号20165003112525
WOS记录号WOS:000391868600012
产权排序1
ISSN号2162-1195
ISBN号978-1-5090-0658-8
摘要In 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19540
专题机器人学研究室
通讯作者Qi X(齐欣)
作者单位1.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
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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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