single-rb.php

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

Paper:

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

Received:
July 6, 2016
Accepted:
October 21, 2016
Published:
December 20, 2016
Keywords:
hexacopter, fault tolerant, MRSMC, control allocation
Abstract

Sliding Mode Control for Hexacopter Stabilization with Motor Failure

Hovering with 5 rotors

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.

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.
Data files:
References
  1. [1] M. W. Mueller, M. Hamer, and R. D’Andrea, “Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation,” IEEE Int. Conf. on Robotics and Automation (ICRA), 2015.
  2. [2] D. S. Maughan, I. T. Erekson, and R. Sharma, “Flying Inverted Pendulum Trajectory Control on Robust Intelligent Sensing and Control Multi-Agent Analysis Platform,” 2015 Int. Conf. on Unmanned Aircraft Systems (ICUAS), 2015.
  3. [3] K. Bipin, V. Duggal, and K. M. Krishna, “Autonomous Navigation of Generic Monocular Quadcopter in Natural Environment,” IEEE Int. Conf. on Robotics and Automation (ICRA), 2015.
  4. [4] A. Mokhtari and A. Benallegue, “Dynamic Feedback Controller of Euler Angles and Wind parameters estimation for a Quadrotor Unmanned Aerial Vehicle,” IEEE Int. Conf. on Robotics and Automation, 2004.
  5. [5] H. A. Izadi, Y. Zhang, and B. W. Gordon, “Fault Tolerant Model Predictive Control of Quad-Rotor Helicopter with Actuator Fault Estimation,” Int. Federation of Autonomous Control (IFAC), 2011.
  6. [6] M. W. Mueller and R. D’Andrea, “Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers,” IEEE Int. Conf. on Robotics & Automation (ICRA), 2014.
  7. [7] G. J. J. Ducard and M. D. Hua, “Discussion and Practical Aspects on Control Allocation for a Multi-rotor Helicopter,” Int. Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol.XXXVIII-1/C22, Conf. on Unmmanned Aerial Vehicle In Geomatics, 2011.
  8. [8] T. Schneider, G. Ducard, K. Rudin, and P. Strupler, “Fault-tolerant Control Allocation for Multirotor Helicopters using Parametric Programming,” Int. Micro Air Vehicle Conf. and Flight Competition (IMAV), 2012.
  9. [9] M. Frangenberg, J. Stephan, and W. Fichter, “Fast Actuator Fault Detection and Reconfiguration for Multicopters,” AIAA Guidance, Navigation and Control Conf., 2015.
  10. [10] D. Vey and J. Lunze, “Structural reconfigurability analysis of multirotor UAVs after actuator failures,” 2015 IEEE 54th Annual Conf. on Decision and Control (CDC), 2015.
  11. [11] M. Blanke, M. Kinnaert, J. Lunze, and M. Staroswiecki, “Diagnosis and Fault-Tolerant Control,” Springer, 2006.
  12. [12] Y. Yang, K. Nonami, Y. Song, and D. Iwakura,“The Research of the Fail Safe System for Muti-Rotor Helicopter,” Dynamics and Desgin Conf. 2013, 2013.
  13. [13] W. Wang, K. Nonami, and Y. Ohira, “Model Reference Sliding Modde Control of Small Helicpter X.R.B based on Vision,” Int. J. of Advanced Robotic System, Vol.5, No.3, pp. 235-242, 2008.
  14. [14] D. Pebrianti, W. Wang, D. Iwakura, Y. Song, and K. Nonami, “Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M,” J. of Robotics and Mechatronics, Vol.23, No.1, pp. 137-148, 2011.
  15. [15] M. Muglegg, P. Niermeyer, G. P. Falconi, and F. Holzapfel, “La Fault Tolerant Adaptive Control of Hexacopter with Control Degradation,” 2015 IEEE Conf. on Control Applications (CCA), 2015.
  16. [16] Y. Yang, D. Iwakura, A. Namiki, K. Nonami, and W. Wang, “Autonomous Flight of Hexacopter under Propulsion System Failure,” J. of Robotics and Mechatronics, Vol.28, No.6, pp. 899-910, 2016.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Nov. 12, 2018