JRM Vol.28 No.6 pp. 936-948
doi: 10.20965/jrm.2016.p0936


Sliding Mode Control for Hexacopter Stabilization with Motor Failure

Yi Yang*, Wei Wang**, Daisuke Iwakura***, Akio Namiki*, and Kenzo Nonami*,***

*Chiba University
1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

**Nanjing University of Information Science and Technology
219 Ningliu Road, Pukou District, Nanjing, China

***Autonomous Control Systems Laboratory Ltd.
1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

July 6, 2016
October 21, 2016
December 20, 2016
hexacopter, fault tolerant, MRSMC, control allocation
This study presents a fault-tolerance approach for hexacopters with failed propulsion systems (i.e., motors and propellers) using sliding mode control theory. In this study, we use an explicit control allocation method with linear constraints for allocating the control input to redundancy actuators, as well as a new sliding model controller designed to stabilize the attitude and maintain the basic flight performance of a vehicle with a single failed motor during an outdoor autonomous flight mission. An asymmetrical motor rotation arrangement is applied in order to ensure controllability for all degrees of freedom. We verify the developed system on a real hexacopter suffering propulsion-system failure. Finally, the comparative results between the linear-quadratic-integral controller and model reference sliding mode controller are presented to evaluate the robustness of each controller against the failure of redundancy actuators.
Hovering with 5 rotors

Hovering with 5 rotors

Cite this article as:
Y. Yang, W. Wang, D. Iwakura, A. Namiki, and K. Nonami, “Sliding Mode Control for Hexacopter Stabilization with Motor Failure,” J. Robot. Mechatron., Vol.28 No.6, pp. 936-948, 2016.
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